{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.287545457482338, "prefix_embed_ms": 40.94345474243164, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 96.03772735595703, "step_ms": [20.163776397705078, 19.70044708251953, 19.7423038482666, 19.734880447387695, 19.872896194458008, 19.819168090820312, 19.78985595703125, 21.507200241088867, 20.126720428466797, 19.76076889038086], "step_mean_ms": 20.0218017578125, "step_p50_ms": 19.80451202392578, "step_p95_ms": 20.90265951156616, "sample_ms": 200.218017578125, "sample_ms_from_mean": 200.218017578125, "output_transfer_ms": 0.06936490535736084, "total_ms": 310.0822679698467, "control_frequency_hz": 3.2249506124524436, "prefill_share": 0.3097169276551344, "sample_share": 0.6456932184125884, "other_share": 0.014414280126974668, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.538765996694565, "prefix_embed_ms": 41.174625396728516, "prefill_forward_ms": 55.01027297973633, "prefill_ms": 96.18489837646484, "step_ms": [20.720064163208008, 21.833568572998047, 20.068927764892578, 19.782047271728516, 19.75814437866211, 19.778207778930664, 20.21552085876465, 19.78201675415039, 24.602495193481445, 19.9715518951416], "step_mean_ms": 20.6512544631958, "step_p50_ms": 20.02023983001709, "step_p95_ms": 23.356478214263912, "sample_ms": 206.512544631958, "sample_ms_from_mean": 206.512544631958, "output_transfer_ms": 0.06668828427791595, "total_ms": 316.5794909000397, "control_frequency_hz": 3.1587643190561296, "prefill_share": 0.303825425023617, "sample_share": 0.6523244574209154, "other_share": 0.013508751304406765, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.33564081788063, "prefix_embed_ms": 38.65107345581055, "prefill_forward_ms": 54.98979187011719, "prefill_ms": 93.64086532592773, "step_ms": [20.724512100219727, 19.84771156311035, 19.799327850341797, 19.783775329589844, 20.012895584106445, 19.976224899291992, 19.818239212036133, 21.25833511352539, 20.95587158203125, 20.637760162353516], "step_mean_ms": 20.281465339660645, "step_p50_ms": 19.99456024169922, "step_p95_ms": 21.122226524353028, "sample_ms": 202.81465339660645, "sample_ms_from_mean": 202.81465339660645, "output_transfer_ms": 0.07590837776660919, "total_ms": 310.51607988774776, "control_frequency_hz": 3.220445138820193, "prefill_share": 0.30156526953380036, "sample_share": 0.6531534646126036, "other_share": 0.014971887997706828, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.592099115252495, "prefix_embed_ms": 38.91990280151367, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.94761657714844, "step_ms": [20.381023406982422, 19.981184005737305, 20.139007568359375, 19.82009506225586, 19.690303802490234, 19.784351348876953, 19.712831497192383, 19.745311737060547, 19.822111129760742, 19.761856079101562], "step_mean_ms": 19.883807563781737, "step_p50_ms": 19.802223205566406, "step_p95_ms": 20.272116279602052, "sample_ms": 198.83807563781738, "sample_ms_from_mean": 198.83807563781738, "output_transfer_ms": 0.06234459578990936, "total_ms": 306.7511934787035, "control_frequency_hz": 3.259971016443416, "prefill_share": 0.3062665071054429, "sample_share": 0.6482063635446683, "other_share": 0.01405392267200608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.332723915576935, "prefix_embed_ms": 39.40595245361328, "prefill_forward_ms": 55.0195198059082, "prefill_ms": 94.42547225952148, "step_ms": [20.51273536682129, 19.830591201782227, 19.882911682128906, 19.926240921020508, 19.813535690307617, 19.9451847076416, 22.46124839782715, 19.834400177001953, 19.844064712524414, 19.850976943969727], "step_mean_ms": 20.19018898010254, "step_p50_ms": 19.866944313049316, "step_p95_ms": 21.58441753387451, "sample_ms": 201.9018898010254, "sample_ms_from_mean": 201.9018898010254, "output_transfer_ms": 0.07128342986106873, "total_ms": 310.2353475987911, "control_frequency_hz": 3.2233593229783746, "prefill_share": 0.30436722633436447, "sample_share": 0.6508023388170876, "other_share": 0.014517940098273296, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.382769465446472, "prefix_embed_ms": 38.53855895996094, "prefill_forward_ms": 56.08243179321289, "prefill_ms": 94.62099075317383, "step_ms": [20.23676872253418, 21.209760665893555, 19.83513641357422, 19.860095977783203, 19.800960540771484, 19.671552658081055, 19.751327514648438, 20.050079345703125, 19.768672943115234, 19.89891242980957], "step_mean_ms": 20.008326721191406, "step_p50_ms": 19.84761619567871, "step_p95_ms": 20.771914291381837, "sample_ms": 200.08326721191406, "sample_ms_from_mean": 200.08326721191406, "output_transfer_ms": 0.06305426359176636, "total_ms": 308.4151353687048, "control_frequency_hz": 3.242383026385906, "prefill_share": 0.3067974943579086, "sample_share": 0.6487465894717459, "other_share": 0.013828937641078707, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.97678579390049, "prefix_embed_ms": 38.70783996582031, "prefill_forward_ms": 55.40556716918945, "prefill_ms": 94.11340713500977, "step_ms": [20.451488494873047, 19.81260871887207, 19.725727081298828, 19.641855239868164, 19.899200439453125, 22.162464141845703, 19.648576736450195, 19.857215881347656, 19.70979118347168, 19.708032608032227], "step_mean_ms": 20.06169605255127, "step_p50_ms": 19.76916790008545, "step_p95_ms": 21.392525100708006, "sample_ms": 200.6169605255127, "sample_ms_from_mean": 200.6169605255127, "output_transfer_ms": 0.05976855754852295, "total_ms": 310.1593554019928, "control_frequency_hz": 3.224149078798269, "prefill_share": 0.30343565491690816, "sample_share": 0.6468189884696405, "other_share": 0.01416186006812001, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.244315326213837, "prefix_embed_ms": 38.46876907348633, "prefill_forward_ms": 55.007232666015625, "prefill_ms": 93.47600173950195, "step_ms": [20.478944778442383, 19.84396743774414, 19.839168548583984, 19.747743606567383, 19.77686309814453, 19.842304229736328, 19.722015380859375, 19.656095504760742, 19.572256088256836, 19.641855239868164], "step_mean_ms": 19.812121391296387, "step_p50_ms": 19.762303352355957, "step_p95_ms": 20.19320497512817, "sample_ms": 198.12121391296387, "sample_ms_from_mean": 198.12121391296387, "output_transfer_ms": 0.06123632192611694, "total_ms": 305.59783801436424, "control_frequency_hz": 3.272274458803587, "prefill_share": 0.3058791330032519, "sample_share": 0.6483069880345536, "other_share": 0.015363559978908564, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.203244000673294, "prefix_embed_ms": 39.956993103027344, "prefill_forward_ms": 54.96934509277344, "prefill_ms": 94.92633819580078, "step_ms": [20.353919982910156, 23.01728057861328, 19.576223373413086, 19.648639678955078, 22.029760360717773, 19.83647918701172, 19.696928024291992, 19.753952026367188, 19.778079986572266, 19.910367965698242], "step_mean_ms": 20.360163116455077, "step_p50_ms": 19.807279586791992, "step_p95_ms": 22.572896480560303, "sample_ms": 203.60163116455078, "sample_ms_from_mean": 203.60163116455078, "output_transfer_ms": 0.06597675383090973, "total_ms": 312.1698386967182, "control_frequency_hz": 3.203384427447932, "prefill_share": 0.3040855535310841, "sample_share": 0.6522142946755195, "other_share": 0.014007274373840455, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.272299706935883, "prefix_embed_ms": 38.974849700927734, "prefill_forward_ms": 55.021568298339844, "prefill_ms": 93.99641799926758, "step_ms": [20.360191345214844, 19.880128860473633, 19.902143478393555, 19.646080017089844, 19.896255493164062, 21.14067268371582, 19.985471725463867, 19.72310447692871, 19.850048065185547, 20.053728103637695], "step_mean_ms": 20.043782424926757, "step_p50_ms": 19.89919948577881, "step_p95_ms": 20.78945608139038, "sample_ms": 200.43782424926758, "sample_ms_from_mean": 200.43782424926758, "output_transfer_ms": 0.06659887731075287, "total_ms": 308.260889723897, "control_frequency_hz": 3.2440054296076277, "prefill_share": 0.3049248903532922, "sample_share": 0.6502213901633634, "other_share": 0.014558281769493283, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.254027158021927, "prefix_embed_ms": 39.53206253051758, "prefill_forward_ms": 55.0010871887207, "prefill_ms": 94.53314971923828, "step_ms": [20.278240203857422, 19.652992248535156, 19.842144012451172, 19.85958480834961, 20.135839462280273, 23.40665626525879, 20.421728134155273, 20.085535049438477, 19.8920955657959, 19.66419219970703], "step_mean_ms": 20.32390079498291, "step_p50_ms": 19.988815307617188, "step_p95_ms": 22.063438606262203, "sample_ms": 203.2390079498291, "sample_ms_from_mean": 203.2390079498291, "output_transfer_ms": 0.06570294499397278, "total_ms": 311.45505607128143, "control_frequency_hz": 3.2107361255074123, "prefill_share": 0.30352099886155925, "sample_share": 0.6525468249368045, "other_share": 0.014008982079904236, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.79788787662983, "prefix_embed_ms": 38.19116973876953, "prefill_forward_ms": 54.97343826293945, "prefill_ms": 93.16460800170898, "step_ms": [22.646432876586914, 19.690080642700195, 19.64409637451172, 19.765663146972656, 19.893951416015625, 21.911264419555664, 19.721376419067383, 19.766752243041992, 19.687231063842773, 22.02230453491211], "step_mean_ms": 20.474915313720704, "step_p50_ms": 19.766207695007324, "step_p95_ms": 22.365575122833253, "sample_ms": 204.74915313720703, "sample_ms_from_mean": 204.74915313720703, "output_transfer_ms": 0.09206309914588928, "total_ms": 312.20903620123863, "control_frequency_hz": 3.202982246021336, "prefill_share": 0.2984045853870112, "sample_share": 0.6558079023863779, "other_share": 0.014110174837179875, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.22008790075779, "prefix_embed_ms": 38.29539108276367, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.33744049072266, "step_ms": [20.219392776489258, 19.736671447753906, 19.955232620239258, 19.743648529052734, 21.916704177856445, 19.75312042236328, 19.6147518157959, 19.518400192260742, 19.997568130493164, 19.809663772583008], "step_mean_ms": 20.026515388488768, "step_p50_ms": 19.781392097473145, "step_p95_ms": 21.15291404724121, "sample_ms": 200.2651538848877, "sample_ms_from_mean": 200.2651538848877, "output_transfer_ms": 0.06785616278648376, "total_ms": 307.31850676238537, "control_frequency_hz": 3.2539530747270837, "prefill_share": 0.3037156514719432, "sample_share": 0.6516534132444229, "other_share": 0.014408401140170808, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.321203455328941, "prefix_embed_ms": 38.074623107910156, "prefill_forward_ms": 54.959102630615234, "prefill_ms": 93.03372573852539, "step_ms": [20.060895919799805, 19.555776596069336, 19.614208221435547, 19.751392364501953, 19.764192581176758, 19.736576080322266, 20.240863800048828, 22.250591278076172, 20.425439834594727, 20.427488327026367], "step_mean_ms": 20.182742500305174, "step_p50_ms": 19.91254425048828, "step_p95_ms": 21.430194950103758, "sample_ms": 201.82742500305176, "sample_ms_from_mean": 201.82742500305176, "output_transfer_ms": 0.0659506767988205, "total_ms": 308.5804972797632, "control_frequency_hz": 3.240645500332403, "prefill_share": 0.30148932469371115, "sample_share": 0.6540511366798152, "other_share": 0.014039099827267074, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.36918891966343, "prefix_embed_ms": 38.571136474609375, "prefill_forward_ms": 55.02975845336914, "prefill_ms": 93.60089492797852, "step_ms": [20.177600860595703, 21.364608764648438, 19.822751998901367, 19.60620880126953, 19.611040115356445, 19.907520294189453, 19.516704559326172, 19.534496307373047, 19.7260799407959, 21.55353546142578], "step_mean_ms": 20.082054710388185, "step_p50_ms": 19.774415969848633, "step_p95_ms": 21.468518447875976, "sample_ms": 200.82054710388184, "sample_ms_from_mean": 200.82054710388184, "output_transfer_ms": 0.06246194243431091, "total_ms": 308.2070518285036, "control_frequency_hz": 3.2445720955029684, "prefill_share": 0.30369485179742445, "sample_share": 0.6515767433368945, "other_share": 0.014126733663992221, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.125689044594765, "prefix_embed_ms": 38.22883224487305, "prefill_forward_ms": 54.97651290893555, "prefill_ms": 93.2053451538086, "step_ms": [20.84623908996582, 20.107200622558594, 19.915103912353516, 19.911968231201172, 19.93270492553711, 19.860960006713867, 19.65238380432129, 19.819360733032227, 21.083711624145508, 19.79964828491211], "step_mean_ms": 20.09292812347412, "step_p50_ms": 19.913536071777344, "step_p95_ms": 20.976848983764647, "sample_ms": 200.9292812347412, "sample_ms_from_mean": 200.9292812347412, "output_transfer_ms": 0.06283260881900787, "total_ms": 307.5372762978077, "control_frequency_hz": 3.251638344587656, "prefill_share": 0.3030700742226513, "sample_share": 0.6533493554133215, "other_share": 0.013702821025713028, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.493015706539154, "prefix_embed_ms": 38.50361633300781, "prefill_forward_ms": 54.984703063964844, "prefill_ms": 93.48831939697266, "step_ms": [20.16192054748535, 19.730432510375977, 21.23017692565918, 20.072063446044922, 19.72425651550293, 19.652896881103516, 19.76710319519043, 19.841760635375977, 19.838720321655273, 19.99728012084961], "step_mean_ms": 20.001661109924317, "step_p50_ms": 19.840240478515625, "step_p95_ms": 20.749461555480956, "sample_ms": 200.01661109924316, "sample_ms_from_mean": 200.01661109924316, "output_transfer_ms": 0.06800517439842224, "total_ms": 307.38071724772453, "control_frequency_hz": 3.2532945103191984, "prefill_share": 0.304145036273139, "sample_share": 0.6507129428618178, "other_share": 0.014037204120041715, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.273143485188484, "prefix_embed_ms": 41.891361236572266, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 96.942626953125, "step_ms": [20.67363166809082, 20.173376083374023, 22.295072555541992, 19.94937515258789, 20.457088470458984, 20.75436782836914, 22.690719604492188, 23.693504333496094, 24.480031967163086, 20.78348731994629], "step_mean_ms": 21.59506549835205, "step_p50_ms": 20.768927574157715, "step_p95_ms": 24.12609453201294, "sample_ms": 215.9506549835205, "sample_ms_from_mean": 215.9506549835205, "output_transfer_ms": 0.0833272933959961, "total_ms": 326.92459784448147, "control_frequency_hz": 3.0588092991268327, "prefill_share": 0.2965290088060023, "sample_share": 0.6605518716161228, "other_share": 0.014299459753332208, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.907007217407227, "prefix_embed_ms": 42.24540710449219, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 97.327392578125, "step_ms": [21.102367401123047, 20.34012794494629, 20.203744888305664, 22.857120513916016, 20.34828758239746, 20.279680252075195, 20.232959747314453, 20.127647399902344, 20.227935791015625, 20.257888793945312], "step_mean_ms": 20.597776031494142, "step_p50_ms": 20.268784523010254, "step_p95_ms": 22.067481613159178, "sample_ms": 205.9777603149414, "sample_ms_from_mean": 205.9777603149414, "output_transfer_ms": 0.07264688611030579, "total_ms": 318.08317825198174, "control_frequency_hz": 3.1438317659408312, "prefill_share": 0.30598094848330326, "sample_share": 0.6475594259554596, "other_share": 0.01508527197749698, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.631216526031494, "prefix_embed_ms": 39.712158203125, "prefill_forward_ms": 55.126014709472656, "prefill_ms": 94.83817291259766, "step_ms": [20.548799514770508, 20.15667152404785, 20.233247756958008, 20.4849910736084, 20.2192325592041, 20.143903732299805, 19.997055053710938, 20.014144897460938, 20.145631790161133, 20.110143661499023], "step_mean_ms": 20.20538215637207, "step_p50_ms": 20.151151657104492, "step_p95_ms": 20.520085716247557, "sample_ms": 202.0538215637207, "sample_ms_from_mean": 202.0538215637207, "output_transfer_ms": 0.0731050968170166, "total_ms": 311.3093338906765, "control_frequency_hz": 3.2122390533628304, "prefill_share": 0.30464288277942314, "sample_share": 0.6490451765081885, "other_share": 0.015139339809081066, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.109082192182541, "prefix_embed_ms": 39.953121185302734, "prefill_forward_ms": 55.193599700927734, "prefill_ms": 95.14672088623047, "step_ms": [21.063199996948242, 20.244831085205078, 20.504928588867188, 20.393312454223633, 20.348480224609375, 22.115520477294922, 20.216032028198242, 20.14214324951172, 20.02297592163086, 20.132448196411133], "step_mean_ms": 20.518387222290038, "step_p50_ms": 20.296655654907227, "step_p95_ms": 21.641976261138915, "sample_ms": 205.1838722229004, "sample_ms_from_mean": 205.1838722229004, "output_transfer_ms": 0.07530674338340759, "total_ms": 317.64729879796505, "control_frequency_hz": 3.148145769802486, "prefill_share": 0.2995357468685643, "sample_share": 0.6459487393702177, "other_share": 0.016157281276087846, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.917136281728745, "prefix_embed_ms": 39.41334533691406, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 94.45539474487305, "step_ms": [22.684383392333984, 20.15760040283203, 20.03968048095703, 20.116992950439453, 19.97635269165039, 20.27903938293457, 19.99247932434082, 20.03376007080078, 19.956256866455078, 20.371519088745117], "step_mean_ms": 20.360806465148926, "step_p50_ms": 20.078336715698242, "step_p95_ms": 21.64359445571899, "sample_ms": 203.60806465148926, "sample_ms_from_mean": 203.60806465148926, "output_transfer_ms": 0.06641820073127747, "total_ms": 312.7371445298195, "control_frequency_hz": 3.197573481408602, "prefill_share": 0.30202806541218746, "sample_share": 0.6510517481305302, "other_share": 0.014997037393970188, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.595194831490517, "prefix_embed_ms": 40.778656005859375, "prefill_forward_ms": 55.025665283203125, "prefill_ms": 95.8043212890625, "step_ms": [20.909503936767578, 20.39187240600586, 20.599327087402344, 20.68502426147461, 20.385568618774414, 20.616735458374023, 20.958784103393555, 20.15635108947754, 20.148256301879883, 20.19580841064453], "step_mean_ms": 20.504723167419435, "step_p50_ms": 20.4955997467041, "step_p95_ms": 20.936608028411865, "sample_ms": 205.04723167419434, "sample_ms_from_mean": 205.04723167419434, "output_transfer_ms": 0.07277540862560272, "total_ms": 315.2755796909332, "control_frequency_hz": 3.1718282810876337, "prefill_share": 0.3038748557150545, "sample_share": 0.6503746083829376, "other_share": 0.015085394473693987, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.424649178981781, "prefix_embed_ms": 39.24892807006836, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 94.27664184570312, "step_ms": [20.39779281616211, 19.876384735107422, 21.224384307861328, 19.815872192382812, 19.98031997680664, 19.97542381286621, 19.878751754760742, 19.916799545288086, 19.762592315673828, 20.053056716918945], "step_mean_ms": 20.088137817382812, "step_p50_ms": 19.94611167907715, "step_p95_ms": 20.85241813659668, "sample_ms": 200.88137817382812, "sample_ms_from_mean": 200.88137817382812, "output_transfer_ms": 0.08363649249076843, "total_ms": 309.0723864734173, "control_frequency_hz": 3.2354880078748414, "prefill_share": 0.30503094411448395, "sample_share": 0.6499492900867918, "other_share": 0.014255821533226623, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.327040985226631, "prefix_embed_ms": 38.25724792480469, "prefill_forward_ms": 54.99494552612305, "prefill_ms": 93.25219345092773, "step_ms": [20.16476821899414, 19.683391571044922, 19.8404483795166, 21.618783950805664, 19.99545669555664, 20.12611198425293, 19.790624618530273, 22.405216217041016, 19.98316764831543, 19.81177520751953], "step_mean_ms": 20.341974449157714, "step_p50_ms": 19.989312171936035, "step_p95_ms": 22.051321697235107, "sample_ms": 203.41974449157715, "sample_ms_from_mean": 203.41974449157715, "output_transfer_ms": 0.06043538451194763, "total_ms": 310.46462059020996, "control_frequency_hz": 3.220978925389135, "prefill_share": 0.30036334985174895, "sample_share": 0.6552107100154125, "other_share": 0.014189076583322005, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.825276210904121, "prefix_embed_ms": 38.78998565673828, "prefill_forward_ms": 55.1096305847168, "prefill_ms": 93.89961624145508, "step_ms": [20.630016326904297, 20.543712615966797, 20.325952529907227, 20.83123207092285, 20.30054473876953, 21.09503936767578, 20.04819107055664, 20.298303604125977, 20.2969913482666, 20.2391357421875], "step_mean_ms": 20.46091194152832, "step_p50_ms": 20.31324863433838, "step_p95_ms": 20.976326084136964, "sample_ms": 204.6091194152832, "sample_ms_from_mean": 204.6091194152832, "output_transfer_ms": 0.0735204666852951, "total_ms": 312.9547331482172, "control_frequency_hz": 3.195350298557057, "prefill_share": 0.30004216679152657, "sample_share": 0.6537978108111218, "other_share": 0.014529899478260718, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.390134364366531, "prefix_embed_ms": 39.39775848388672, "prefill_forward_ms": 55.190528869628906, "prefill_ms": 94.58828735351562, "step_ms": [20.516000747680664, 20.200864791870117, 19.935359954833984, 19.68329620361328, 19.791711807250977, 19.642047882080078, 19.725664138793945, 19.774208068847656, 20.0928955078125, 21.048704147338867], "step_mean_ms": 20.04107532501221, "step_p50_ms": 19.86353588104248, "step_p95_ms": 20.808987617492676, "sample_ms": 200.41075325012207, "sample_ms_from_mean": 200.41075325012207, "output_transfer_ms": 0.06566941738128662, "total_ms": 309.04257111251354, "control_frequency_hz": 3.2358001565937293, "prefill_share": 0.3060687950304385, "sample_share": 0.6484891467498122, "other_share": 0.014844966862050113, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.297432377934456, "prefix_embed_ms": 38.2402229309082, "prefill_forward_ms": 54.990848541259766, "prefill_ms": 93.23107147216797, "step_ms": [20.312959671020508, 19.642240524291992, 19.79737663269043, 19.720800399780273, 20.952543258666992, 20.05401611328125, 19.758943557739258, 21.789440155029297, 19.939775466918945, 19.871488571166992], "step_mean_ms": 20.183958435058592, "step_p50_ms": 19.90563201904297, "step_p95_ms": 21.41283655166626, "sample_ms": 201.83958435058594, "sample_ms_from_mean": 201.83958435058594, "output_transfer_ms": 0.0832192599773407, "total_ms": 308.8830690830946, "control_frequency_hz": 3.2374710694517983, "prefill_share": 0.3018328966651367, "sample_share": 0.6534498150051979, "other_share": 0.014347700039320309, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.300583973526955, "prefix_embed_ms": 39.17929458618164, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 94.26435089111328, "step_ms": [20.289823532104492, 20.150304794311523, 20.06800079345703, 20.2891845703125, 19.8319034576416, 20.05072021484375, 19.839616775512695, 19.78646469116211, 21.257888793945312, 19.617759704589844], "step_mean_ms": 20.118166732788087, "step_p50_ms": 20.05936050415039, "step_p95_ms": 20.822259426116943, "sample_ms": 201.18166732788086, "sample_ms_from_mean": 201.18166732788086, "output_transfer_ms": 0.060655176639556885, "total_ms": 309.3204405158758, "control_frequency_hz": 3.2328933656380046, "prefill_share": 0.30474659461205306, "sample_share": 0.6503988775922982, "other_share": 0.014590639852924707, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.457545354962349, "prefix_embed_ms": 38.38902282714844, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.44028854370117, "step_ms": [20.752607345581055, 20.1243839263916, 22.031391143798828, 19.86249542236328, 20.010656356811523, 19.80022430419922, 20.32316780090332, 20.437631607055664, 20.270336151123047, 20.36150360107422], "step_mean_ms": 20.397439765930176, "step_p50_ms": 20.296751976013184, "step_p95_ms": 21.455938434600828, "sample_ms": 203.97439765930176, "sample_ms_from_mean": 203.97439765930176, "output_transfer_ms": 0.06918050348758698, "total_ms": 311.3686852157116, "control_frequency_hz": 3.2116267546532975, "prefill_share": 0.3000953306494747, "sample_share": 0.6550896327869045, "other_share": 0.014218748912375626, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.459378197789192, "prefix_embed_ms": 38.45225524902344, "prefill_forward_ms": 55.05535888671875, "prefill_ms": 93.50761413574219, "step_ms": [20.09449577331543, 19.860639572143555, 20.0982723236084, 20.86739158630371, 19.592544555664062, 19.623424530029297, 19.771455764770508, 19.82899284362793, 19.848831176757812, 19.75049591064453], "step_mean_ms": 19.933654403686525, "step_p50_ms": 19.83891201019287, "step_p95_ms": 20.52128791809082, "sample_ms": 199.33654403686523, "sample_ms_from_mean": 199.33654403686523, "output_transfer_ms": 0.06731972098350525, "total_ms": 306.85448087751865, "control_frequency_hz": 3.258873708281129, "prefill_share": 0.30472950523106707, "sample_share": 0.6496126224613635, "other_share": 0.01461156693334447, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.243454784154892, "prefix_embed_ms": 41.331424713134766, "prefill_forward_ms": 54.98982238769531, "prefill_ms": 96.32124710083008, "step_ms": [20.184608459472656, 19.96272087097168, 19.882591247558594, 19.846656799316406, 19.981504440307617, 19.62633514404297, 19.599872589111328, 20.007200241088867, 19.83955192565918, 19.953792572021484], "step_mean_ms": 19.888483428955077, "step_p50_ms": 19.91819190979004, "step_p95_ms": 20.104774761199952, "sample_ms": 198.88483428955078, "sample_ms_from_mean": 198.88483428955078, "output_transfer_ms": 0.06313994526863098, "total_ms": 308.8551703840494, "control_frequency_hz": 3.2377635082376597, "prefill_share": 0.3118654189310101, "sample_share": 0.6439420588046015, "other_share": 0.014059969463503914, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.102001786231995, "prefix_embed_ms": 40.83977508544922, "prefill_forward_ms": 55.11171340942383, "prefill_ms": 95.95148849487305, "step_ms": [20.329631805419922, 19.911039352416992, 19.840831756591797, 20.185855865478516, 20.46124839782715, 21.675392150878906, 19.901216506958008, 19.953439712524414, 19.94451141357422, 19.85968017578125], "step_mean_ms": 20.206284713745116, "step_p50_ms": 19.948975563049316, "step_p95_ms": 21.129027462005613, "sample_ms": 202.06284713745117, "sample_ms_from_mean": 202.06284713745117, "output_transfer_ms": 0.06333552300930023, "total_ms": 311.697443947196, "control_frequency_hz": 3.2082393340684816, "prefill_share": 0.3078353395516711, "sample_share": 0.6482659741402378, "other_share": 0.014494090642577869, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.607087820768356, "prefix_embed_ms": 38.95353698730469, "prefill_forward_ms": 55.10655975341797, "prefill_ms": 94.06009674072266, "step_ms": [20.47216033935547, 20.009183883666992, 22.039648056030273, 19.959775924682617, 19.854015350341797, 19.876480102539062, 19.892383575439453, 19.751039505004883, 19.76265525817871, 19.671039581298828], "step_mean_ms": 20.12883815765381, "step_p50_ms": 19.884431838989258, "step_p95_ms": 21.33427858352661, "sample_ms": 201.2883815765381, "sample_ms_from_mean": 201.2883815765381, "output_transfer_ms": 0.05991943180561066, "total_ms": 309.4046264886856, "control_frequency_hz": 3.2320137269717533, "prefill_share": 0.3040035238263067, "sample_share": 0.6505668123352992, "other_share": 0.014185763699339519, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.068966075778008, "prefix_embed_ms": 39.25961685180664, "prefill_forward_ms": 55.214080810546875, "prefill_ms": 94.47369766235352, "step_ms": [20.634016036987305, 20.123136520385742, 19.95417594909668, 19.95471954345703, 19.81667137145996, 19.662464141845703, 20.006975173950195, 22.507648468017578, 19.936416625976562, 19.97248077392578], "step_mean_ms": 20.256870460510253, "step_p50_ms": 19.963600158691406, "step_p95_ms": 21.664513874053952, "sample_ms": 202.56870460510254, "sample_ms_from_mean": 202.56870460510254, "output_transfer_ms": 0.07070042192935944, "total_ms": 311.5604277700186, "control_frequency_hz": 3.2096502343300157, "prefill_share": 0.303227525839996, "sample_share": 0.650174690203695, "other_share": 0.014053001005914285, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.27346758544445, "prefix_embed_ms": 38.55900955200195, "prefill_forward_ms": 55.11270523071289, "prefill_ms": 93.67171478271484, "step_ms": [20.299903869628906, 21.380800247192383, 19.850656509399414, 19.655040740966797, 19.800031661987305, 20.032800674438477, 22.309247970581055, 19.875648498535156, 19.864831924438477, 19.876768112182617], "step_mean_ms": 20.294573020935058, "step_p50_ms": 19.876208305358887, "step_p95_ms": 21.89144649505615, "sample_ms": 202.9457302093506, "sample_ms_from_mean": 202.9457302093506, "output_transfer_ms": 0.07593818008899689, "total_ms": 310.36301143467426, "control_frequency_hz": 3.222033435548365, "prefill_share": 0.30181339699505727, "sample_share": 0.6538979283363054, "other_share": 0.014164576689579832, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.545804932713509, "prefix_embed_ms": 38.89139175415039, "prefill_forward_ms": 55.09017562866211, "prefill_ms": 93.9815673828125, "step_ms": [20.635360717773438, 21.475648880004883, 20.168352127075195, 19.88057518005371, 19.79871940612793, 19.974624633789062, 19.82089614868164, 19.777631759643555, 21.183008193969727, 19.693344116210938], "step_mean_ms": 20.240816116333008, "step_p50_ms": 19.927599906921387, "step_p95_ms": 21.343960571289063, "sample_ms": 202.40816116333008, "sample_ms_from_mean": 202.40816116333008, "output_transfer_ms": 0.06523728370666504, "total_ms": 310.61144918203354, "control_frequency_hz": 3.2194563421065365, "prefill_share": 0.3025695531517085, "sample_share": 0.6516442381514049, "other_share": 0.014843877878978966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.718595072627068, "prefix_embed_ms": 38.368831634521484, "prefill_forward_ms": 55.144447326660156, "prefill_ms": 93.51327896118164, "step_ms": [20.544960021972656, 19.940704345703125, 19.944927215576172, 19.9434871673584, 22.311552047729492, 19.656383514404297, 19.600255966186523, 19.687583923339844, 19.82601547241211, 19.748544692993164], "step_mean_ms": 20.120441436767578, "step_p50_ms": 19.883359909057617, "step_p95_ms": 21.516585636138913, "sample_ms": 201.20441436767578, "sample_ms_from_mean": 201.20441436767578, "output_transfer_ms": 0.06034970283508301, "total_ms": 308.8802192360163, "control_frequency_hz": 3.2375009395985215, "prefill_share": 0.3027493285017642, "sample_share": 0.6513994805667206, "other_share": 0.01419184803267442, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.267916902899742, "prefix_embed_ms": 38.11235046386719, "prefill_forward_ms": 55.02876663208008, "prefill_ms": 93.14111709594727, "step_ms": [20.22003173828125, 19.716447830200195, 20.93084716796875, 19.64031982421875, 19.683359146118164, 19.781631469726562, 19.694751739501953, 19.930400848388672, 19.631359100341797, 19.90755271911621], "step_mean_ms": 19.913670158386232, "step_p50_ms": 19.74903964996338, "step_p95_ms": 20.610980224609374, "sample_ms": 199.1367015838623, "sample_ms_from_mean": 199.1367015838623, "output_transfer_ms": 0.06086006760597229, "total_ms": 306.6108860075474, "control_frequency_hz": 3.2614628039507525, "prefill_share": 0.30377628892685354, "sample_share": 0.6494769451172078, "other_share": 0.0163213068602819, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.516924619674683, "prefix_embed_ms": 38.50444793701172, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.54240036010742, "step_ms": [20.453344345092773, 20.092735290527344, 19.925567626953125, 19.821535110473633, 19.853376388549805, 19.924575805664062, 19.97475242614746, 19.847583770751953, 21.394559860229492, 19.746591567993164], "step_mean_ms": 20.10346221923828, "step_p50_ms": 19.925071716308594, "step_p95_ms": 20.97101287841797, "sample_ms": 201.0346221923828, "sample_ms_from_mean": 201.0346221923828, "output_transfer_ms": 0.06263330578804016, "total_ms": 308.59890580177307, "control_frequency_hz": 3.24045218955619, "prefill_share": 0.30311967606325185, "sample_share": 0.6514430816599083, "other_share": 0.0143951428222938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.27826203405857, "prefix_embed_ms": 38.607425689697266, "prefill_forward_ms": 55.02668762207031, "prefill_ms": 93.63411331176758, "step_ms": [22.083200454711914, 20.02851104736328, 19.77622413635254, 21.992223739624023, 19.768096923828125, 20.139455795288086, 20.055648803710938, 19.802719116210938, 20.546783447265625, 20.377119064331055], "step_mean_ms": 20.45699825286865, "step_p50_ms": 20.09755229949951, "step_p95_ms": 22.042260932922364, "sample_ms": 204.56998252868652, "sample_ms_from_mean": 204.56998252868652, "output_transfer_ms": 0.09452924132347107, "total_ms": 312.09369003772736, "control_frequency_hz": 3.2041660306528956, "prefill_share": 0.3000192451838698, "sample_share": 0.6554761889096737, "other_share": 0.014472586489477567, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.666169062256813, "prefix_embed_ms": 39.264705657958984, "prefill_forward_ms": 55.191551208496094, "prefill_ms": 94.45625686645508, "step_ms": [20.484447479248047, 19.869823455810547, 19.916671752929688, 19.668224334716797, 19.723936080932617, 19.891616821289062, 19.97635269165039, 19.89580726623535, 19.727935791015625, 19.704639434814453], "step_mean_ms": 19.885945510864257, "step_p50_ms": 19.880720138549805, "step_p95_ms": 20.255804824829102, "sample_ms": 198.85945510864258, "sample_ms_from_mean": 198.85945510864258, "output_transfer_ms": 0.06561167538166046, "total_ms": 307.53947235643864, "control_frequency_hz": 3.2516151254919197, "prefill_share": 0.30713539352431535, "sample_share": 0.6466144120783436, "other_share": 0.014606188952864876, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.338868781924248, "prefix_embed_ms": 39.93280029296875, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 94.98099136352539, "step_ms": [23.134687423706055, 29.473695755004883, 28.893823623657227, 27.9019832611084, 28.29132843017578, 27.135135650634766, 19.677471160888672, 20.555423736572266, 19.738719940185547, 19.760448455810547], "step_mean_ms": 24.456271743774415, "step_p50_ms": 25.13491153717041, "step_p95_ms": 29.212753295898438, "sample_ms": 244.56271743774414, "sample_ms_from_mean": 244.56271743774414, "output_transfer_ms": 0.06935000419616699, "total_ms": 353.60056534409523, "control_frequency_hz": 2.8280497770892463, "prefill_share": 0.2686109714533336, "sample_share": 0.6916355385341526, "other_share": 0.013146578971619033, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.362094104290009, "prefix_embed_ms": 38.61084747314453, "prefill_forward_ms": 55.06867218017578, "prefill_ms": 93.67951965332031, "step_ms": [20.435487747192383, 19.666976928710938, 19.80086326599121, 20.011520385742188, 19.822431564331055, 21.266464233398438, 20.133216857910156, 19.91164779663086, 20.18707275390625, 20.043136596679688], "step_mean_ms": 20.127881813049317, "step_p50_ms": 20.027328491210938, "step_p95_ms": 20.89252481460571, "sample_ms": 201.27881813049316, "sample_ms_from_mean": 201.27881813049316, "output_transfer_ms": 0.06150826811790466, "total_ms": 309.33615006506443, "control_frequency_hz": 3.232729184059685, "prefill_share": 0.3028405171319814, "sample_share": 0.6506799095034869, "other_share": 0.01601561895627457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.59484837949276, "prefix_embed_ms": 43.770591735839844, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 98.92732620239258, "step_ms": [20.575231552124023, 19.89628791809082, 19.991039276123047, 19.736352920532227, 19.8239688873291, 20.05356788635254, 19.637279510498047, 19.70591926574707, 21.684192657470703, 20.042207717895508], "step_mean_ms": 20.11460475921631, "step_p50_ms": 19.943663597106934, "step_p95_ms": 21.185160160064697, "sample_ms": 201.1460475921631, "sample_ms_from_mean": 201.1460475921631, "output_transfer_ms": 0.06154552102088928, "total_ms": 314.2982739955187, "control_frequency_hz": 3.1816910328125383, "prefill_share": 0.3147561866782733, "sample_share": 0.6399845759096694, "other_share": 0.014535575529487348, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.108595550060272, "prefix_embed_ms": 38.33331298828125, "prefill_forward_ms": 55.21305465698242, "prefill_ms": 93.54636764526367, "step_ms": [20.343551635742188, 19.889984130859375, 19.9517765045166, 19.74847984313965, 21.328351974487305, 20.283296585083008, 20.049087524414062, 19.73891258239746, 19.86409568786621, 19.923423767089844], "step_mean_ms": 20.11209602355957, "step_p50_ms": 19.937600135803223, "step_p95_ms": 20.885191822052, "sample_ms": 201.1209602355957, "sample_ms_from_mean": 201.1209602355957, "output_transfer_ms": 0.06823986768722534, "total_ms": 308.3060085773468, "control_frequency_hz": 3.243530687625646, "prefill_share": 0.30342051417332355, "sample_share": 0.652342006448892, "other_share": 0.014472132085030565, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.251013398170471, "prefix_embed_ms": 38.35452651977539, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.38838195800781, "step_ms": [20.531967163085938, 19.606464385986328, 19.829023361206055, 20.059423446655273, 19.892255783081055, 19.972288131713867, 19.828800201416016, 19.781631469726562, 21.559680938720703, 20.097631454467773], "step_mean_ms": 20.115916633605956, "step_p50_ms": 19.93227195739746, "step_p95_ms": 21.097209739685056, "sample_ms": 201.15916633605957, "sample_ms_from_mean": 201.15916633605957, "output_transfer_ms": 0.06467290222644806, "total_ms": 308.35222639143467, "control_frequency_hz": 3.2430445263935272, "prefill_share": 0.3028626809376653, "sample_share": 0.6523681333200431, "other_share": 0.014558000276190195, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.58673283457756, "prefix_embed_ms": 39.298526763916016, "prefill_forward_ms": 55.06252670288086, "prefill_ms": 94.36105346679688, "step_ms": [20.65510368347168, 20.162399291992188, 21.79030418395996, 20.06515121459961, 20.049055099487305, 19.788991928100586, 19.762975692749023, 19.91152000427246, 19.938688278198242, 20.009376525878906], "step_mean_ms": 20.213356590270998, "step_p50_ms": 20.029215812683105, "step_p95_ms": 21.279463958740234, "sample_ms": 202.13356590270996, "sample_ms_from_mean": 202.13356590270996, "output_transfer_ms": 0.06623193621635437, "total_ms": 310.713704675436, "control_frequency_hz": 3.218396823032237, "prefill_share": 0.30369131469551414, "sample_share": 0.650546026329459, "other_share": 0.014695587823861609, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 13.177480548620224, "prefix_embed_ms": 38.840576171875, "prefill_forward_ms": 56.239105224609375, "prefill_ms": 95.07968139648438, "step_ms": [20.490047454833984, 19.905792236328125, 20.08095932006836, 20.132896423339844, 20.01158332824707, 20.327360153198242, 19.88585662841797, 20.122304916381836, 20.142751693725586, 20.11724853515625], "step_mean_ms": 20.121680068969727, "step_p50_ms": 20.119776725769043, "step_p95_ms": 20.4168381690979, "sample_ms": 201.21680068969727, "sample_ms_from_mean": 201.21680068969727, "output_transfer_ms": 0.06463564932346344, "total_ms": 314.2225183546543, "control_frequency_hz": 3.1824581040093616, "prefill_share": 0.3025871025868698, "sample_share": 0.6403640380177635, "other_share": 0.014906379386987067, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.8064374178648, "prefix_embed_ms": 40.54880142211914, "prefill_forward_ms": 55.197696685791016, "prefill_ms": 95.74649810791016, "step_ms": [20.255008697509766, 19.92153549194336, 19.763776779174805, 20.128032684326172, 20.03276824951172, 20.10745620727539, 19.576927185058594, 22.514272689819336, 19.83635139465332, 19.922687530517578], "step_mean_ms": 20.205881690979005, "step_p50_ms": 19.97772789001465, "step_p95_ms": 21.497603893280026, "sample_ms": 202.05881690979004, "sample_ms_from_mean": 202.05881690979004, "output_transfer_ms": 0.06784684956073761, "total_ms": 312.0656367391348, "control_frequency_hz": 3.204454070782329, "prefill_share": 0.30681525562504525, "sample_share": 0.647488198384038, "other_share": 0.014054855574103083, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.462328627705574, "prefix_embed_ms": 38.677024841308594, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 93.76310348510742, "step_ms": [20.543743133544922, 20.317472457885742, 22.536287307739258, 19.81235122680664, 20.07721519470215, 19.88559913635254, 19.80143928527832, 20.835296630859375, 21.041439056396484, 21.001567840576172], "step_mean_ms": 20.58524112701416, "step_p50_ms": 20.430607795715332, "step_p95_ms": 21.863605594635008, "sample_ms": 205.8524112701416, "sample_ms_from_mean": 205.8524112701416, "output_transfer_ms": 0.06149895489215851, "total_ms": 313.84018808603287, "control_frequency_hz": 3.1863350774116617, "prefill_share": 0.2987606656015774, "sample_share": 0.6559147587998239, "other_share": 0.014978469700946875, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.168287739157677, "prefix_embed_ms": 38.68937683105469, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 93.79183959960938, "step_ms": [20.518592834472656, 22.095136642456055, 20.671039581298828, 20.271808624267578, 20.05583953857422, 20.197792053222656, 20.787263870239258, 20.702560424804688, 24.05392074584961, 21.981536865234375], "step_mean_ms": 21.13354911804199, "step_p50_ms": 20.686800003051758, "step_p95_ms": 23.17246789932251, "sample_ms": 211.33549118041992, "sample_ms_from_mean": 211.33549118041992, "output_transfer_ms": 0.07226504385471344, "total_ms": 319.09902952611446, "control_frequency_hz": 3.1338233823057173, "prefill_share": 0.2939270600067232, "sample_share": 0.6622881037722637, "other_share": 0.01482657584417877, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.485140442848206, "prefix_embed_ms": 39.8355827331543, "prefill_forward_ms": 55.11065673828125, "prefill_ms": 94.94623947143555, "step_ms": [20.198528289794922, 19.721248626708984, 19.895423889160156, 19.662080764770508, 21.68262481689453, 19.761280059814453, 19.89263916015625, 20.24880027770996, 19.769344329833984, 19.71388816833496], "step_mean_ms": 20.05458583831787, "step_p50_ms": 19.830991744995117, "step_p95_ms": 21.037403774261474, "sample_ms": 200.5458583831787, "sample_ms_from_mean": 200.5458583831787, "output_transfer_ms": 0.06490200757980347, "total_ms": 309.97299402952194, "control_frequency_hz": 3.226087495560209, "prefill_share": 0.30630487590926336, "sample_share": 0.6469784860163613, "other_share": 0.015907365542980365, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.129609912633896, "prefix_embed_ms": 38.50166320800781, "prefill_forward_ms": 55.17107009887695, "prefill_ms": 93.67273330688477, "step_ms": [20.434431076049805, 19.906496047973633, 19.86639976501465, 19.7893123626709, 19.945152282714844, 19.72217559814453, 19.676128387451172, 19.740032196044922, 21.991615295410156, 19.911584854125977], "step_mean_ms": 20.098332786560057, "step_p50_ms": 19.88644790649414, "step_p95_ms": 21.290882396697995, "sample_ms": 200.9833278656006, "sample_ms_from_mean": 200.9833278656006, "output_transfer_ms": 0.06404705345630646, "total_ms": 308.397026732564, "control_frequency_hz": 3.2425734145199168, "prefill_share": 0.30374071468631886, "sample_share": 0.6517031956987365, "other_share": 0.014744981954484789, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.258082136511803, "prefix_embed_ms": 38.340415954589844, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.4142074584961, "step_ms": [20.09270477294922, 19.99616050720215, 19.667295455932617, 19.722623825073242, 21.804832458496094, 19.89846420288086, 19.8951358795166, 20.016576766967773, 19.819904327392578, 19.794464111328125], "step_mean_ms": 20.070816230773925, "step_p50_ms": 19.89680004119873, "step_p95_ms": 21.034374999999997, "sample_ms": 200.70816230773926, "sample_ms_from_mean": 200.70816230773926, "output_transfer_ms": 0.06703473627567291, "total_ms": 307.8076560050249, "control_frequency_hz": 3.2487820900194735, "prefill_share": 0.30348240414452565, "sample_share": 0.6520570830261049, "other_share": 0.01416524014571913, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.402023628354073, "prefix_embed_ms": 38.23196792602539, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.30575942993164, "step_ms": [22.361343383789062, 19.845535278320312, 19.905920028686523, 20.101024627685547, 19.67900848388672, 19.636863708496094, 22.329792022705078, 19.935775756835938, 19.797279357910156, 21.52012825012207], "step_mean_ms": 20.51126708984375, "step_p50_ms": 19.92084789276123, "step_p95_ms": 22.34714527130127, "sample_ms": 205.1126708984375, "sample_ms_from_mean": 205.1126708984375, "output_transfer_ms": 0.06287731230258942, "total_ms": 312.1649157255888, "control_frequency_hz": 3.2034349461585827, "prefill_share": 0.2988989304357087, "sample_share": 0.6570650978559792, "other_share": 0.013715777273083304, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.230660274624825, "prefix_embed_ms": 38.40764617919922, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 93.46812438964844, "step_ms": [20.203935623168945, 19.76793670654297, 19.725215911865234, 20.824480056762695, 20.068832397460938, 19.989343643188477, 19.81510353088379, 20.76848030090332, 20.40332794189453, 20.00150489807129], "step_mean_ms": 20.15681610107422, "step_p50_ms": 20.035168647766113, "step_p95_ms": 20.799280166625977, "sample_ms": 201.5681610107422, "sample_ms_from_mean": 201.5681610107422, "output_transfer_ms": 0.06473623216152191, "total_ms": 308.82853642106056, "control_frequency_hz": 3.2380427391482627, "prefill_share": 0.3026537815217078, "sample_share": 0.6526863202043017, "other_share": 0.014561007107686852, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.482832625508308, "prefix_embed_ms": 39.91814422607422, "prefill_forward_ms": 55.10553741455078, "prefill_ms": 95.023681640625, "step_ms": [23.169055938720703, 25.631967544555664, 30.47648048400879, 30.42246437072754, 30.357248306274414, 30.49555206298828, 30.28607940673828, 36.43094253540039, 32.03059387207031, 20.23731231689453], "step_mean_ms": 28.95376968383789, "step_p50_ms": 30.389856338500977, "step_p95_ms": 34.45078563690185, "sample_ms": 289.5376968383789, "sample_ms_from_mean": 289.5376968383789, "output_transfer_ms": 0.24695135653018951, "total_ms": 401.08885429799557, "control_frequency_hz": 2.49321313540424, "prefill_share": 0.23691429124087698, "sample_share": 0.7218791889521371, "other_share": 0.016948094578321804, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 17.69340969622135, "prefix_embed_ms": 50.49248123168945, "prefill_forward_ms": 55.53868865966797, "prefill_ms": 106.03116989135742, "step_ms": [26.734880447387695, 26.42767906188965, 28.435680389404297, 26.934175491333008, 27.134687423706055, 26.86908721923828, 26.241056442260742, 26.726560592651367, 27.432479858398438, 28.020095825195312], "step_mean_ms": 27.095638275146484, "step_p50_ms": 26.901631355285645, "step_p95_ms": 28.24866733551025, "sample_ms": 270.95638275146484, "sample_ms_from_mean": 270.95638275146484, "output_transfer_ms": 0.07001683115959167, "total_ms": 399.9592922627926, "control_frequency_hz": 2.5002544492526795, "prefill_share": 0.2651049042803332, "sample_share": 0.677459901527762, "other_share": 0.013022107982847577, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.834246709942818, "prefix_embed_ms": 52.4793586730957, "prefill_forward_ms": 55.43833541870117, "prefill_ms": 107.91769409179688, "step_ms": [27.849824905395508, 27.712703704833984, 26.420352935791016, 27.24323272705078, 27.407808303833008, 26.8288631439209, 27.000288009643555, 26.39673614501953, 26.628543853759766, 27.009920120239258], "step_mean_ms": 27.04982738494873, "step_p50_ms": 27.005104064941406, "step_p95_ms": 27.788120365142824, "sample_ms": 270.4982738494873, "sample_ms_from_mean": 270.4982738494873, "output_transfer_ms": 0.07851049304008484, "total_ms": 393.46945472061634, "control_frequency_hz": 2.541493343390662, "prefill_share": 0.27427210116837153, "sample_share": 0.6874695623871364, "other_share": 0.013065129998463139, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.372962802648544, "prefix_embed_ms": 53.61286544799805, "prefill_forward_ms": 59.34080123901367, "prefill_ms": 112.95366668701172, "step_ms": [27.424448013305664, 26.91315269470215, 26.913951873779297, 29.87753677368164, 27.336288452148438, 26.713119506835938, 26.925567626953125, 28.304288864135742, 26.628671646118164, 26.69024085998535], "step_mean_ms": 27.37272663116455, "step_p50_ms": 26.91975975036621, "step_p95_ms": 29.169575214385986, "sample_ms": 273.7272663116455, "sample_ms_from_mean": 273.7272663116455, "output_transfer_ms": 0.07464922964572906, "total_ms": 402.4850595742464, "control_frequency_hz": 2.4845642744051473, "prefill_share": 0.2806406449136161, "sample_share": 0.6800929868084981, "other_share": 0.013308604669602129, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.15397347509861, "prefix_embed_ms": 54.0618896484375, "prefill_forward_ms": 59.54457473754883, "prefill_ms": 113.60646438598633, "step_ms": [27.308063507080078, 26.720415115356445, 26.94620704650879, 27.06719970703125, 28.048992156982422, 26.78860855102539, 26.63465690612793, 27.511327743530273, 27.29203224182129, 26.87830352783203], "step_mean_ms": 27.11958065032959, "step_p50_ms": 27.00670337677002, "step_p95_ms": 27.807043170928953, "sample_ms": 271.1958065032959, "sample_ms_from_mean": 271.1958065032959, "output_transfer_ms": 0.08171424269676208, "total_ms": 400.83104744553566, "control_frequency_hz": 2.49481672233955, "prefill_share": 0.28342730711603126, "sample_share": 0.6765838330927836, "other_share": 0.014452694908183772, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.11035405099392, "prefix_embed_ms": 52.25923156738281, "prefill_forward_ms": 59.32851028442383, "prefill_ms": 111.58774185180664, "step_ms": [27.369216918945312, 27.19055938720703, 26.941728591918945, 27.31782341003418, 26.64134407043457, 26.715648651123047, 27.049184799194336, 28.816192626953125, 27.029632568359375, 27.23948860168457], "step_mean_ms": 27.23108196258545, "step_p50_ms": 27.119872093200684, "step_p95_ms": 28.16505355834961, "sample_ms": 272.3108196258545, "sample_ms_from_mean": 272.3108196258545, "output_transfer_ms": 0.09554997086524963, "total_ms": 399.6310718357563, "control_frequency_hz": 2.5023079296771704, "prefill_share": 0.27922689129054484, "sample_share": 0.6814055232866654, "other_share": 0.013829270859367438, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.14937087893486, "prefix_embed_ms": 51.93369674682617, "prefill_forward_ms": 59.266048431396484, "prefill_ms": 111.19974517822266, "step_ms": [27.283967971801758, 30.210336685180664, 27.35852813720703, 27.048160552978516, 27.204063415527344, 28.289024353027344, 27.103071212768555, 27.190752029418945, 28.612031936645508, 27.002111434936523], "step_mean_ms": 27.730204772949218, "step_p50_ms": 27.24401569366455, "step_p95_ms": 29.491099548339843, "sample_ms": 277.3020477294922, "sample_ms_from_mean": 277.3020477294922, "output_transfer_ms": 0.07990747690200806, "total_ms": 404.27352488040924, "control_frequency_hz": 2.4735728126045764, "prefill_share": 0.27506066644140836, "sample_share": 0.6859268061432484, "other_share": 0.013709662581780684, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.025980114936829, "prefix_embed_ms": 53.04508972167969, "prefill_forward_ms": 59.39712142944336, "prefill_ms": 112.44221115112305, "step_ms": [27.446304321289062, 28.106016159057617, 27.82441520690918, 28.823488235473633, 27.375295639038086, 27.622304916381836, 27.208608627319336, 26.59071922302246, 26.317983627319336, 26.34707260131836], "step_mean_ms": 27.36622085571289, "step_p50_ms": 27.410799980163574, "step_p95_ms": 28.500625801086425, "sample_ms": 273.6622085571289, "sample_ms_from_mean": 273.6622085571289, "output_transfer_ms": 0.08239597082138062, "total_ms": 403.11960503458977, "control_frequency_hz": 2.480653353275127, "prefill_share": 0.2789301481417033, "sample_share": 0.6788610753219191, "other_share": 0.014652746149800305, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.946717113256454, "prefix_embed_ms": 52.98847961425781, "prefill_forward_ms": 59.57017517089844, "prefill_ms": 112.55865478515625, "step_ms": [28.97612762451172, 26.9467830657959, 27.014015197753906, 28.538015365600586, 27.215328216552734, 26.928863525390625, 28.749631881713867, 27.908384323120117, 27.783935546875, 27.484928131103516], "step_mean_ms": 27.754601287841798, "step_p50_ms": 27.634431838989258, "step_p95_ms": 28.874204540252684, "sample_ms": 277.54601287841797, "sample_ms_from_mean": 277.54601287841797, "output_transfer_ms": 0.0878404825925827, "total_ms": 406.57818131148815, "control_frequency_hz": 2.4595515597377293, "prefill_share": 0.27684381493881166, "sample_share": 0.6826387288741008, "other_share": 0.013377392841201177, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.991500690579414, "prefix_embed_ms": 51.73440170288086, "prefill_forward_ms": 59.2250862121582, "prefill_ms": 110.95948791503906, "step_ms": [29.09587287902832, 26.673919677734375, 26.356128692626953, 26.494464874267578, 26.508127212524414, 26.8973445892334, 26.290847778320312, 28.700864791870117, 26.951520919799805, 26.871231079101562], "step_mean_ms": 27.084032249450683, "step_p50_ms": 26.77257537841797, "step_p95_ms": 28.91811923980713, "sample_ms": 270.84032249450684, "sample_ms_from_mean": 270.84032249450684, "output_transfer_ms": 0.08803606033325195, "total_ms": 398.77586625516415, "control_frequency_hz": 2.507674321896229, "prefill_share": 0.2782502586152984, "sample_share": 0.6791793220535683, "other_share": 0.014786549522363985, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.38459688425064, "prefix_embed_ms": 53.93097686767578, "prefill_forward_ms": 59.33465576171875, "prefill_ms": 113.26563262939453, "step_ms": [27.211200714111328, 27.951007843017578, 26.890239715576172, 26.632160186767578, 26.983264923095703, 26.43622398376465, 26.47929573059082, 26.567712783813477, 27.406688690185547, 27.070911407470703], "step_mean_ms": 26.962870597839355, "step_p50_ms": 26.936752319335938, "step_p95_ms": 27.706064224243164, "sample_ms": 269.62870597839355, "sample_ms_from_mean": 269.62870597839355, "output_transfer_ms": 0.08243322372436523, "total_ms": 398.49841967225075, "control_frequency_hz": 2.5094202401667256, "prefill_share": 0.28423107103549133, "sample_share": 0.6766117321121438, "other_share": 0.01289101964497796, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.82401892542839, "prefix_embed_ms": 50.65078353881836, "prefill_forward_ms": 59.254783630371094, "prefill_ms": 109.90556716918945, "step_ms": [26.969280242919922, 26.427936553955078, 27.18921661376953, 26.652992248535156, 26.734176635742188, 27.035776138305664, 26.683807373046875, 26.571136474609375, 26.620159149169922, 28.24553680419922], "step_mean_ms": 26.913001823425294, "step_p50_ms": 26.70899200439453, "step_p95_ms": 27.770192718505857, "sample_ms": 269.13001823425293, "sample_ms_from_mean": 269.13001823425293, "output_transfer_ms": 0.07080286741256714, "total_ms": 393.97360384464264, "control_frequency_hz": 2.5382411162610135, "prefill_share": 0.2789668294948232, "sample_share": 0.6831168779022571, "other_share": 0.012800849090255308, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.100217536091805, "prefix_embed_ms": 51.92652893066406, "prefill_forward_ms": 59.480064392089844, "prefill_ms": 111.4065933227539, "step_ms": [27.523744583129883, 26.86079978942871, 26.61612892150879, 27.886592864990234, 26.72447967529297, 26.67852783203125, 27.16979217529297, 26.631488800048828, 26.706560134887695, 26.388256072998047], "step_mean_ms": 26.918637084960938, "step_p50_ms": 26.715519905090332, "step_p95_ms": 27.723311138153075, "sample_ms": 269.1863708496094, "sample_ms_from_mean": 269.1863708496094, "output_transfer_ms": 0.06777048110961914, "total_ms": 395.8478607237339, "control_frequency_hz": 2.5262230751271124, "prefill_share": 0.281437906773243, "sample_share": 0.6800248215500075, "other_share": 0.01285066572007926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.71318781375885, "prefix_embed_ms": 52.76591873168945, "prefill_forward_ms": 59.34284973144531, "prefill_ms": 112.10876846313477, "step_ms": [27.65564727783203, 27.5098876953125, 27.666336059570312, 27.219648361206055, 29.010656356811523, 26.885663986206055, 26.61974334716797, 26.398975372314453, 27.89904022216797, 26.845823287963867], "step_mean_ms": 27.371142196655274, "step_p50_ms": 27.364768028259277, "step_p95_ms": 28.510429096221923, "sample_ms": 273.71142196655273, "sample_ms_from_mean": 273.71142196655273, "output_transfer_ms": 0.07641129195690155, "total_ms": 400.8087385445833, "control_frequency_hz": 2.494955583132244, "prefill_share": 0.27970639779517814, "sample_share": 0.6828978404025163, "other_share": 0.012971146856873662, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.349810123443604, "prefix_embed_ms": 51.282047271728516, "prefill_forward_ms": 60.189697265625, "prefill_ms": 111.47174453735352, "step_ms": [27.605087280273438, 26.90425682067871, 27.212671279907227, 27.281503677368164, 27.808000564575195, 26.93270492553711, 26.45859146118164, 26.450592041015625, 26.77292823791504, 28.82601547241211], "step_mean_ms": 27.225235176086425, "step_p50_ms": 27.072688102722168, "step_p95_ms": 28.367908763885495, "sample_ms": 272.25235176086426, "sample_ms_from_mean": 272.25235176086426, "output_transfer_ms": 0.08917972445487976, "total_ms": 399.99681524932384, "control_frequency_hz": 2.500019904850206, "prefill_share": 0.278681580171761, "sample_share": 0.6806362985444406, "other_share": 0.014584438877522912, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.025030329823494, "prefix_embed_ms": 52.75862503051758, "prefill_forward_ms": 59.469825744628906, "prefill_ms": 112.22845077514648, "step_ms": [26.94723129272461, 26.960927963256836, 28.747455596923828, 26.86297607421875, 26.546432495117188, 26.478496551513672, 26.82601547241211, 26.639423370361328, 26.955488204956055, 26.590688705444336], "step_mean_ms": 26.955513572692873, "step_p50_ms": 26.84449577331543, "step_p95_ms": 27.943518161773678, "sample_ms": 269.5551357269287, "sample_ms_from_mean": 269.5551357269287, "output_transfer_ms": 0.080818310379982, "total_ms": 399.4527719914913, "control_frequency_hz": 2.503424860502159, "prefill_share": 0.28095549372614453, "sample_share": 0.6748110280548272, "other_share": 0.013927395775666693, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.80402359366417, "prefix_embed_ms": 52.42937469482422, "prefill_forward_ms": 59.30188751220703, "prefill_ms": 111.73126220703125, "step_ms": [26.770111083984375, 26.742399215698242, 27.0416316986084, 27.33148765563965, 26.90239906311035, 26.2359676361084, 26.52943992614746, 26.170272827148438, 26.219776153564453, 27.07129669189453], "step_mean_ms": 26.70147819519043, "step_p50_ms": 26.75625514984131, "step_p95_ms": 27.214401721954346, "sample_ms": 267.0147819519043, "sample_ms_from_mean": 267.0147819519043, "output_transfer_ms": 0.06998889148235321, "total_ms": 394.9149549007416, "control_frequency_hz": 2.5321907605432195, "prefill_share": 0.28292486982447634, "sample_share": 0.6761323637870744, "other_share": 0.013407692443529606, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.171191766858101, "prefix_embed_ms": 51.26454544067383, "prefill_forward_ms": 59.29471969604492, "prefill_ms": 110.55926513671875, "step_ms": [27.3570556640625, 26.832351684570312, 26.416095733642578, 26.200319290161133, 26.768896102905273, 26.555328369140625, 26.135711669921875, 26.702848434448242, 26.252031326293945, 26.139039993286133], "step_mean_ms": 26.53596782684326, "step_p50_ms": 26.4857120513916, "step_p95_ms": 27.120938873291013, "sample_ms": 265.3596782684326, "sample_ms_from_mean": 265.3596782684326, "output_transfer_ms": 0.06951577961444855, "total_ms": 391.3876358419657, "control_frequency_hz": 2.5550117285865914, "prefill_share": 0.282480219128231, "sample_share": 0.6779970902698097, "other_share": 0.013357562711696677, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.972430765628815, "prefix_embed_ms": 49.975135803222656, "prefill_forward_ms": 59.29779052734375, "prefill_ms": 109.2729263305664, "step_ms": [27.202463150024414, 26.4466552734375, 26.847904205322266, 26.18899154663086, 26.459264755249023, 26.343679428100586, 27.939136505126953, 26.070592880249023, 25.88470458984375, 26.140256881713867], "step_mean_ms": 26.552364921569826, "step_p50_ms": 26.395167350769043, "step_p95_ms": 27.60763349533081, "sample_ms": 265.52364921569824, "sample_ms_from_mean": 265.52364921569824, "output_transfer_ms": 0.07663853466510773, "total_ms": 389.8152559995651, "control_frequency_hz": 2.565317761706883, "prefill_share": 0.2803197787894897, "sample_share": 0.6811525334862586, "other_share": 0.012748631759584335, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.474931448698044, "prefix_embed_ms": 50.28883361816406, "prefill_forward_ms": 59.242496490478516, "prefill_ms": 109.53133010864258, "step_ms": [27.680767059326172, 26.70150375366211, 26.659839630126953, 26.758623123168945, 27.149856567382812, 27.496543884277344, 26.98956871032715, 28.20172882080078, 26.877567291259766, 27.120960235595703], "step_mean_ms": 27.163695907592775, "step_p50_ms": 27.055264472961426, "step_p95_ms": 27.967296028137206, "sample_ms": 271.63695907592773, "sample_ms_from_mean": 271.63695907592773, "output_transfer_ms": 0.07392838597297668, "total_ms": 397.5027222186327, "control_frequency_hz": 2.5157060420078943, "prefill_share": 0.2755486289434733, "sample_share": 0.6833587391799626, "other_share": 0.014554801454187801, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.213358327746391, "prefix_embed_ms": 52.2347526550293, "prefill_forward_ms": 59.62035369873047, "prefill_ms": 111.85510635375977, "step_ms": [29.52617645263672, 26.922752380371094, 26.595232009887695, 26.192415237426758, 29.072927474975586, 28.258560180664062, 27.49839973449707, 27.715103149414062, 28.36457633972168, 27.101184844970703], "step_mean_ms": 27.72473278045654, "step_p50_ms": 27.606751441955566, "step_p95_ms": 29.32221441268921, "sample_ms": 277.24732780456543, "sample_ms_from_mean": 277.24732780456543, "output_transfer_ms": 0.07195211946964264, "total_ms": 404.51634116470814, "control_frequency_hz": 2.4720880178060027, "prefill_share": 0.2765156681475456, "sample_share": 0.6853797970343991, "other_share": 0.012678342102077607, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.206053033471107, "prefix_embed_ms": 53.555519104003906, "prefill_forward_ms": 59.244544982910156, "prefill_ms": 112.80006408691406, "step_ms": [27.09756851196289, 26.593055725097656, 26.144351959228516, 26.772607803344727, 27.783679962158203, 26.84217643737793, 26.531776428222656, 26.272480010986328, 26.446592330932617, 26.596351623535156], "step_mean_ms": 26.708064079284668, "step_p50_ms": 26.594703674316406, "step_p95_ms": 27.474929809570312, "sample_ms": 267.0806407928467, "sample_ms_from_mean": 267.0806407928467, "output_transfer_ms": 0.07376447319984436, "total_ms": 395.40634863078594, "control_frequency_hz": 2.5290438645277256, "prefill_share": 0.28527630999734427, "sample_share": 0.6754586559312823, "other_share": 0.013266924677662632, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.10294072329998, "prefix_embed_ms": 49.8337287902832, "prefill_forward_ms": 59.235328674316406, "prefill_ms": 109.06905746459961, "step_ms": [26.631200790405273, 26.196704864501953, 26.977216720581055, 26.53865623474121, 26.23529624938965, 26.42393684387207, 29.170591354370117, 26.77686309814453, 27.966304779052734, 26.70479965209961], "step_mean_ms": 26.96215705871582, "step_p50_ms": 26.66800022125244, "step_p95_ms": 28.628662395477292, "sample_ms": 269.6215705871582, "sample_ms_from_mean": 269.6215705871582, "output_transfer_ms": 0.07575936615467072, "total_ms": 394.1382598131895, "control_frequency_hz": 2.5371807356991223, "prefill_share": 0.2767279114600427, "sample_share": 0.6840786548226789, "other_share": 0.013368231935855122, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.133404284715652, "prefix_embed_ms": 50.216094970703125, "prefill_forward_ms": 59.31520080566406, "prefill_ms": 109.53129577636719, "step_ms": [27.770591735839844, 26.350431442260742, 26.41414451599121, 26.351232528686523, 26.258752822875977, 26.356800079345703, 26.725696563720703, 28.98896026611328, 26.4517765045166, 26.321632385253906], "step_mean_ms": 26.79900188446045, "step_p50_ms": 26.385472297668457, "step_p95_ms": 28.440694427490232, "sample_ms": 267.9900188446045, "sample_ms_from_mean": 267.9900188446045, "output_transfer_ms": 0.07916055619716644, "total_ms": 393.9638938754797, "control_frequency_hz": 2.538303675910134, "prefill_share": 0.27802369069635297, "sample_share": 0.6802400499404856, "other_share": 0.015813668487001813, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.468563064932823, "prefix_embed_ms": 49.90473556518555, "prefill_forward_ms": 59.27628707885742, "prefill_ms": 109.18102264404297, "step_ms": [27.236255645751953, 27.177568435668945, 30.803295135498047, 28.661056518554688, 27.514720916748047, 27.282943725585938, 26.864927291870117, 26.73139190673828, 26.91059112548828, 27.61961555480957], "step_mean_ms": 27.680236625671387, "step_p50_ms": 27.259599685668945, "step_p95_ms": 29.83928775787353, "sample_ms": 276.80236625671387, "sample_ms_from_mean": 276.80236625671387, "output_transfer_ms": 0.08364394307136536, "total_ms": 402.2340923547745, "control_frequency_hz": 2.48611447663663, "prefill_share": 0.27143652096934695, "sample_share": 0.688162369918091, "other_share": 0.014167114509496426, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.58000884950161, "prefix_embed_ms": 50.695648193359375, "prefill_forward_ms": 57.84678268432617, "prefill_ms": 108.54243087768555, "step_ms": [26.657119750976562, 26.483135223388672, 27.780479431152344, 26.180543899536133, 26.060192108154297, 26.17238426208496, 26.455968856811523, 26.683679580688477, 26.437023162841797, 27.3450870513916], "step_mean_ms": 26.625561332702638, "step_p50_ms": 26.469552040100098, "step_p95_ms": 27.584552860260008, "sample_ms": 266.25561332702637, "sample_ms_from_mean": 266.25561332702637, "output_transfer_ms": 0.07149949669837952, "total_ms": 390.54467901587486, "control_frequency_hz": 2.560526499861369, "prefill_share": 0.2779257706216848, "sample_share": 0.6817545536606929, "other_share": 0.013046206333682638, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.069780051708221, "prefix_embed_ms": 50.961185455322266, "prefill_forward_ms": 57.891841888427734, "prefill_ms": 108.85302734375, "step_ms": [27.255456924438477, 26.892736434936523, 26.277311325073242, 26.181760787963867, 26.746784210205078, 26.42038345336914, 27.416767120361328, 26.852415084838867, 26.444255828857422, 26.53023910522461], "step_mean_ms": 26.701811027526855, "step_p50_ms": 26.638511657714844, "step_p95_ms": 27.344177532196046, "sample_ms": 267.01811027526855, "sample_ms_from_mean": 267.01811027526855, "output_transfer_ms": 0.07442757487297058, "total_ms": 391.17348566651344, "control_frequency_hz": 2.5564104844583677, "prefill_share": 0.2782730203665959, "sample_share": 0.6826078966479572, "other_share": 0.01318632425233227, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.447712615132332, "prefix_embed_ms": 52.927711486816406, "prefill_forward_ms": 57.608192443847656, "prefill_ms": 110.53590393066406, "step_ms": [27.45897674560547, 26.33603286743164, 26.468671798706055, 26.29395294189453, 26.12508773803711, 26.493152618408203, 27.21571159362793, 26.423263549804688, 26.4434871673584, 26.258464813232422], "step_mean_ms": 26.551680183410646, "step_p50_ms": 26.433375358581543, "step_p95_ms": 27.349507427215578, "sample_ms": 265.51680183410645, "sample_ms_from_mean": 265.51680183410645, "output_transfer_ms": 0.07911771535873413, "total_ms": 391.66470244526863, "control_frequency_hz": 2.553204293766402, "prefill_share": 0.28222074453112195, "sample_share": 0.6779186385099634, "other_share": 0.01298346855935444, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.041778907179832, "prefix_embed_ms": 49.986846923828125, "prefill_forward_ms": 57.58259201049805, "prefill_ms": 107.56943893432617, "step_ms": [27.733055114746094, 27.11471939086914, 26.549951553344727, 26.499296188354492, 26.2608642578125, 26.17158317565918, 26.261920928955078, 27.26780891418457, 26.086015701293945, 26.050687789916992], "step_mean_ms": 26.599590301513672, "step_p50_ms": 26.380608558654785, "step_p95_ms": 27.52369432449341, "sample_ms": 265.9959030151367, "sample_ms_from_mean": 265.9959030151367, "output_transfer_ms": 0.07771514356136322, "total_ms": 389.0503793954849, "control_frequency_hz": 2.5703611998883593, "prefill_share": 0.2764923121305522, "sample_share": 0.6837055484393745, "other_share": 0.013791384559547116, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.750181809067726, "prefix_embed_ms": 50.31596755981445, "prefill_forward_ms": 56.97126388549805, "prefill_ms": 107.2872314453125, "step_ms": [26.79916763305664, 26.562047958374023, 26.232223510742188, 26.41116714477539, 26.336576461791992, 26.162559509277344, 26.410144805908203, 26.517887115478516, 26.617952346801758, 26.728256225585938], "step_mean_ms": 26.4777982711792, "step_p50_ms": 26.464527130126953, "step_p95_ms": 26.767257499694825, "sample_ms": 264.777982711792, "sample_ms_from_mean": 264.777982711792, "output_transfer_ms": 0.075511634349823, "total_ms": 387.1240131556988, "control_frequency_hz": 2.5831515638835003, "prefill_share": 0.27713917969269003, "sample_share": 0.6839616601238838, "other_share": 0.013517904798822216, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.872127324342728, "prefix_embed_ms": 50.69203186035156, "prefill_forward_ms": 56.9384651184082, "prefill_ms": 107.63049697875977, "step_ms": [27.109792709350586, 26.42108726501465, 26.425472259521484, 26.468608856201172, 26.470367431640625, 26.412960052490234, 26.17571258544922, 26.246047973632812, 26.723360061645508, 26.627775192260742], "step_mean_ms": 26.508118438720704, "step_p50_ms": 26.447040557861328, "step_p95_ms": 26.9358980178833, "sample_ms": 265.08118438720703, "sample_ms_from_mean": 265.08118438720703, "output_transfer_ms": 0.07391534745693207, "total_ms": 387.7844400703907, "control_frequency_hz": 2.578752256842693, "prefill_share": 0.27755238698907736, "sample_share": 0.6835787024850442, "other_share": 0.013220530539321387, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.933268651366234, "prefix_embed_ms": 50.334720611572266, "prefill_forward_ms": 56.9169921875, "prefill_ms": 107.25171279907227, "step_ms": [26.79462432861328, 26.269311904907227, 26.30191993713379, 26.224224090576172, 26.48294448852539, 26.25881576538086, 26.16659164428711, 26.043231964111328, 26.877952575683594, 26.304607391357422], "step_mean_ms": 26.372422409057616, "step_p50_ms": 26.285615921020508, "step_p95_ms": 26.840454864501954, "sample_ms": 263.7242240905762, "sample_ms_from_mean": 263.7242240905762, "output_transfer_ms": 0.07102265954017639, "total_ms": 386.05362363159657, "control_frequency_hz": 2.590313725313664, "prefill_share": 0.27781558372683607, "sample_share": 0.6831284773595159, "other_share": 0.013141685818970994, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.773274883627892, "prefix_embed_ms": 49.62745666503906, "prefill_forward_ms": 56.90163040161133, "prefill_ms": 106.52908706665039, "step_ms": [26.78838348388672, 26.53990364074707, 26.305824279785156, 26.7324161529541, 27.012800216674805, 26.938783645629883, 27.59766387939453, 27.16383934020996, 26.937440872192383, 27.468704223632812], "step_mean_ms": 26.948575973510742, "step_p50_ms": 26.938112258911133, "step_p95_ms": 27.539632034301757, "sample_ms": 269.4857597351074, "sample_ms_from_mean": 269.4857597351074, "output_transfer_ms": 0.07405504584312439, "total_ms": 391.0767659544945, "control_frequency_hz": 2.5570427267887337, "prefill_share": 0.27239942727522215, "sample_share": 0.6890866019037927, "other_share": 0.013333927446542337, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.585699394345284, "prefix_embed_ms": 50.05046463012695, "prefill_forward_ms": 56.181758880615234, "prefill_ms": 106.23222351074219, "step_ms": [27.03830337524414, 26.177919387817383, 26.3384952545166, 26.354976654052734, 26.408832550048828, 27.21900749206543, 26.495296478271484, 26.40995216369629, 26.298463821411133, 26.874656677246094], "step_mean_ms": 26.56159038543701, "step_p50_ms": 26.40939235687256, "step_p95_ms": 27.13769063949585, "sample_ms": 265.6159038543701, "sample_ms_from_mean": 265.6159038543701, "output_transfer_ms": 0.07573142647743225, "total_ms": 388.9923468232155, "control_frequency_hz": 2.5707446641732203, "prefill_share": 0.2730959217534974, "sample_share": 0.6828306675531691, "other_share": 0.014094849634078315, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.204227641224861, "prefix_embed_ms": 52.0464973449707, "prefill_forward_ms": 59.2465934753418, "prefill_ms": 111.2930908203125, "step_ms": [27.52729606628418, 27.169824600219727, 26.87353515625, 26.797119140625, 26.919519424438477, 26.61078453063965, 26.409984588623047, 26.59062385559082, 26.462047576904297, 26.258304595947266], "step_mean_ms": 26.761903953552245, "step_p50_ms": 26.703951835632324, "step_p95_ms": 27.366433906555176, "sample_ms": 267.61903953552246, "sample_ms_from_mean": 267.61903953552246, "output_transfer_ms": 0.08331052958965302, "total_ms": 394.44541931152344, "control_frequency_hz": 2.535205001861675, "prefill_share": 0.28215080052030195, "sample_share": 0.6784691276238739, "other_share": 0.013299053628332277, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.210616514086723, "prefix_embed_ms": 50.72169494628906, "prefill_forward_ms": 59.30495834350586, "prefill_ms": 110.02665328979492, "step_ms": [27.608800888061523, 26.807167053222656, 27.035327911376953, 26.15715217590332, 26.328031539916992, 26.19705581665039, 26.568639755249023, 26.51865577697754, 26.24630355834961, 26.437664031982422], "step_mean_ms": 26.590479850769043, "step_p50_ms": 26.47815990447998, "step_p95_ms": 27.350738048553467, "sample_ms": 265.90479850769043, "sample_ms_from_mean": 265.90479850769043, "output_transfer_ms": 0.07275491952896118, "total_ms": 391.36444590985775, "control_frequency_hz": 2.5551631234032133, "prefill_share": 0.2811360470775548, "sample_share": 0.6794301354828123, "other_share": 0.013158125968200027, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.213702917098999, "prefix_embed_ms": 50.9483528137207, "prefill_forward_ms": 59.238399505615234, "prefill_ms": 110.18675231933594, "step_ms": [27.04729652404785, 26.396831512451172, 26.753568649291992, 26.936704635620117, 26.5960636138916, 26.42278480529785, 26.4005126953125, 26.454368591308594, 26.608959197998047, 26.226367950439453], "step_mean_ms": 26.584345817565918, "step_p50_ms": 26.525216102600098, "step_p95_ms": 26.99753017425537, "sample_ms": 265.8434581756592, "sample_ms_from_mean": 265.8434581756592, "output_transfer_ms": 0.07336772978305817, "total_ms": 391.42410457134247, "control_frequency_hz": 2.55477367980473, "prefill_share": 0.2815022146886022, "sample_share": 0.6791698698954436, "other_share": 0.01304677808500806, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.908325970172882, "prefix_embed_ms": 49.755550384521484, "prefill_forward_ms": 59.238399505615234, "prefill_ms": 108.99394989013672, "step_ms": [26.779296875, 26.478944778442383, 26.31443214416504, 26.458816528320312, 26.524799346923828, 26.32080078125, 26.062623977661133, 26.113056182861328, 26.32691192626953, 26.22831916809082], "step_mean_ms": 26.360800170898436, "step_p50_ms": 26.323856353759766, "step_p95_ms": 26.664772987365723, "sample_ms": 263.6080017089844, "sample_ms_from_mean": 263.6080017089844, "output_transfer_ms": 0.08569657802581787, "total_ms": 388.2262706756592, "control_frequency_hz": 2.575817443419337, "prefill_share": 0.2807485173541873, "sample_share": 0.6790060890269164, "other_share": 0.014502616009319926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.835563600063324, "prefix_embed_ms": 50.59251022338867, "prefill_forward_ms": 59.16672134399414, "prefill_ms": 109.75923156738281, "step_ms": [26.871103286743164, 26.1661434173584, 26.165536880493164, 26.17478370666504, 26.5216007232666, 26.308799743652344, 26.127967834472656, 26.321056365966797, 26.109216690063477, 26.193248748779297], "step_mean_ms": 26.295945739746095, "step_p50_ms": 26.184016227722168, "step_p95_ms": 26.71382713317871, "sample_ms": 262.95945739746094, "sample_ms_from_mean": 262.95945739746094, "output_transfer_ms": 0.0681653618812561, "total_ms": 387.62007653713226, "control_frequency_hz": 2.5798457317630823, "prefill_share": 0.28316188508070833, "sample_share": 0.6783948337935757, "other_share": 0.012893188234704814, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.877791628241539, "prefix_embed_ms": 49.5412483215332, "prefill_forward_ms": 59.189247131347656, "prefill_ms": 108.73049545288086, "step_ms": [26.890655517578125, 26.40323257446289, 26.354496002197266, 26.11369514465332, 26.302143096923828, 26.59929656982422, 26.37887954711914, 27.223295211791992, 26.331008911132812, 26.730880737304688], "step_mean_ms": 26.53275833129883, "step_p50_ms": 26.391056060791016, "step_p95_ms": 27.07360734939575, "sample_ms": 265.3275833129883, "sample_ms_from_mean": 265.3275833129883, "output_transfer_ms": 0.07998570799827576, "total_ms": 389.1324903815985, "control_frequency_hz": 2.569818827051324, "prefill_share": 0.2794176742894316, "sample_share": 0.681843818933746, "other_share": 0.013148823102568347, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.091397911310196, "prefix_embed_ms": 51.23699188232422, "prefill_forward_ms": 59.291648864746094, "prefill_ms": 110.52864074707031, "step_ms": [27.190879821777344, 26.89148712158203, 27.705568313598633, 27.17420768737793, 27.372800827026367, 27.216800689697266, 27.336576461791992, 27.150911331176758, 27.251840591430664, 26.939712524414062], "step_mean_ms": 27.223078536987305, "step_p50_ms": 27.203840255737305, "step_p95_ms": 27.555822944641115, "sample_ms": 272.23078536987305, "sample_ms_from_mean": 272.23078536987305, "output_transfer_ms": 0.07042847573757172, "total_ms": 398.16874265670776, "control_frequency_hz": 2.5114979978781955, "prefill_share": 0.2775924599444654, "sample_share": 0.6837070724172449, "other_share": 0.01317906101243338, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.3759765625, "prefix_embed_ms": 51.22092819213867, "prefill_forward_ms": 59.26812744140625, "prefill_ms": 110.48905563354492, "step_ms": [27.137279510498047, 26.57587242126465, 26.858623504638672, 27.827871322631836, 27.110143661499023, 26.64143943786621, 26.8721923828125, 26.427295684814453, 26.6080322265625, 27.685312271118164], "step_mean_ms": 26.974406242370605, "step_p50_ms": 26.865407943725586, "step_p95_ms": 27.763719749450683, "sample_ms": 269.74406242370605, "sample_ms_from_mean": 269.74406242370605, "output_transfer_ms": 0.10153837502002716, "total_ms": 396.2718117982149, "control_frequency_hz": 2.523520397431672, "prefill_share": 0.2788213855842134, "sample_share": 0.6807046436123044, "other_share": 0.014033748144255362, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.759394615888596, "prefix_embed_ms": 51.324798583984375, "prefill_forward_ms": 59.067359924316406, "prefill_ms": 110.39215850830078, "step_ms": [27.226879119873047, 27.67344093322754, 26.696319580078125, 26.795391082763672, 27.627296447753906, 26.906463623046875, 26.76473617553711, 26.73721694946289, 26.580480575561523, 26.844192504882812], "step_mean_ms": 26.98524169921875, "step_p50_ms": 26.819791793823242, "step_p95_ms": 27.652675914764405, "sample_ms": 269.8524169921875, "sample_ms_from_mean": 269.8524169921875, "output_transfer_ms": 0.08134357631206512, "total_ms": 396.3689487427473, "control_frequency_hz": 2.5229019658879066, "prefill_share": 0.2785085937192014, "sample_share": 0.6808111933291929, "other_share": 0.013330093254826496, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.896911844611168, "prefix_embed_ms": 51.71273422241211, "prefill_forward_ms": 58.95475387573242, "prefill_ms": 110.66748809814453, "step_ms": [28.82655906677246, 26.898847579956055, 26.80998420715332, 27.11311912536621, 26.93609619140625, 26.915103912353516, 27.107295989990234, 27.074432373046875, 26.945663452148438, 26.904447555541992], "step_mean_ms": 27.153154945373537, "step_p50_ms": 26.940879821777344, "step_p95_ms": 28.055511093139646, "sample_ms": 271.53154945373535, "sample_ms_from_mean": 271.53154945373535, "output_transfer_ms": 0.08193403482437134, "total_ms": 399.29768815636635, "control_frequency_hz": 2.5043971694832265, "prefill_share": 0.27715534394681185, "sample_share": 0.6800228438773296, "other_share": 0.015326421631207615, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.940659791231155, "prefix_embed_ms": 52.27657699584961, "prefill_forward_ms": 57.70342254638672, "prefill_ms": 109.97999954223633, "step_ms": [27.43302345275879, 26.970783233642578, 26.821632385253906, 26.895360946655273, 26.953535079956055, 26.86515235900879, 26.86150360107422, 27.580928802490234, 27.39664077758789, 27.139551162719727], "step_mean_ms": 27.091811180114746, "step_p50_ms": 26.962159156799316, "step_p95_ms": 27.514371395111084, "sample_ms": 270.91811180114746, "sample_ms_from_mean": 270.91811180114746, "output_transfer_ms": 0.08618086576461792, "total_ms": 397.71765284240246, "control_frequency_hz": 2.5143465291349663, "prefill_share": 0.2765278301232871, "sample_share": 0.6811820140870138, "other_share": 0.014564857256457463, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.275019496679306, "prefix_embed_ms": 50.92668914794922, "prefill_forward_ms": 57.55295944213867, "prefill_ms": 108.47964859008789, "step_ms": [27.506559371948242, 26.898624420166016, 26.707040786743164, 26.594079971313477, 26.883007049560547, 26.819360733032227, 26.454463958740234, 27.355552673339844, 26.645023345947266, 26.40412712097168], "step_mean_ms": 26.82678394317627, "step_p50_ms": 26.763200759887695, "step_p95_ms": 27.438606357574464, "sample_ms": 268.2678394317627, "sample_ms_from_mean": 268.2678394317627, "output_transfer_ms": 0.07830187678337097, "total_ms": 393.4875875711441, "control_frequency_hz": 2.541376225289943, "prefill_share": 0.275687599854657, "sample_share": 0.6817695091417816, "other_share": 0.013689829986967227, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.517492890357971, "prefix_embed_ms": 53.35580825805664, "prefill_forward_ms": 57.701377868652344, "prefill_ms": 111.05718612670898, "step_ms": [28.58678436279297, 28.843360900878906, 28.399200439453125, 26.66156768798828, 26.68454360961914, 26.53673553466797, 26.21526336669922, 26.315711975097656, 26.426464080810547, 26.254880905151367], "step_mean_ms": 27.092451286315917, "step_p50_ms": 26.599151611328125, "step_p95_ms": 28.727901458740234, "sample_ms": 270.9245128631592, "sample_ms_from_mean": 270.9245128631592, "output_transfer_ms": 0.09355321526527405, "total_ms": 397.9660253971815, "control_frequency_hz": 2.512777313093426, "prefill_share": 0.2790619777551883, "sample_share": 0.6807729694834346, "other_share": 0.013501856838978688, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.326681658625603, "prefix_embed_ms": 50.09868621826172, "prefill_forward_ms": 58.228736877441406, "prefill_ms": 108.32742309570312, "step_ms": [27.006816864013672, 26.055391311645508, 26.53932762145996, 26.43129539489746, 26.28607940673828, 26.30303955078125, 26.15603256225586, 26.41868782043457, 26.487104415893555, 26.371456146240234], "step_mean_ms": 26.405523109436036, "step_p50_ms": 26.395071983337402, "step_p95_ms": 26.7964467048645, "sample_ms": 264.05523109436035, "sample_ms_from_mean": 264.05523109436035, "output_transfer_ms": 0.08060410618782043, "total_ms": 387.9363629966974, "control_frequency_hz": 2.577742370617918, "prefill_share": 0.279240188413648, "sample_share": 0.6806663573752386, "other_share": 0.01326615273202512, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.093346238136292, "prefix_embed_ms": 50.286529541015625, "prefill_forward_ms": 57.20265579223633, "prefill_ms": 107.48918533325195, "step_ms": [26.900352478027344, 26.352319717407227, 26.01411247253418, 26.180736541748047, 26.424768447875977, 26.032512664794922, 26.1376953125, 26.741344451904297, 26.586240768432617, 26.247360229492188], "step_mean_ms": 26.36174430847168, "step_p50_ms": 26.299839973449707, "step_p95_ms": 26.828798866271974, "sample_ms": 263.6174430847168, "sample_ms_from_mean": 263.6174430847168, "output_transfer_ms": 0.07352977991104126, "total_ms": 386.2215541303158, "control_frequency_hz": 2.5891874477378027, "prefill_share": 0.2783096494324183, "sample_share": 0.6825549746396834, "other_share": 0.01281142815926365, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.08489727973938, "prefix_embed_ms": 50.1808967590332, "prefill_forward_ms": 57.206783294677734, "prefill_ms": 107.38768005371094, "step_ms": [26.817119598388672, 26.3570556640625, 26.352224349975586, 26.075807571411133, 26.462751388549805, 26.254016876220703, 26.148448944091797, 26.16659164428711, 26.161312103271484, 26.540767669677734], "step_mean_ms": 26.333609580993652, "step_p50_ms": 26.303120613098145, "step_p95_ms": 26.69276123046875, "sample_ms": 263.3360958099365, "sample_ms_from_mean": 263.3360958099365, "output_transfer_ms": 0.07875263690948486, "total_ms": 385.8786653727293, "control_frequency_hz": 2.591488179410169, "prefill_share": 0.27829390347347305, "sample_share": 0.6824323795034741, "other_share": 0.012934738404394085, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.906642138957977, "prefix_embed_ms": 49.90835189819336, "prefill_forward_ms": 56.94054412841797, "prefill_ms": 106.84889602661133, "step_ms": [26.849504470825195, 26.647775650024414, 26.13030433654785, 26.212032318115234, 26.43974494934082, 26.234304428100586, 26.217599868774414, 26.166112899780273, 26.162368774414062, 26.159072875976562], "step_mean_ms": 26.321882057189942, "step_p50_ms": 26.214816093444824, "step_p95_ms": 26.758726501464842, "sample_ms": 263.2188205718994, "sample_ms_from_mean": 263.2188205718994, "output_transfer_ms": 0.07348507642745972, "total_ms": 385.0761093199253, "control_frequency_hz": 2.5968892273428197, "prefill_share": 0.27747474704498, "sample_share": 0.6835501195770481, "other_share": 0.013057848524826537, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.885909035801888, "prefix_embed_ms": 49.465694427490234, "prefill_forward_ms": 56.94668960571289, "prefill_ms": 106.41238403320312, "step_ms": [26.60259246826172, 26.288192749023438, 26.37731170654297, 26.382047653198242, 26.25209617614746, 26.16454315185547, 26.036224365234375, 26.3253116607666, 26.660863876342773, 27.178367614746094], "step_mean_ms": 26.426755142211913, "step_p50_ms": 26.351311683654785, "step_p95_ms": 26.945490932464597, "sample_ms": 264.26755142211914, "sample_ms_from_mean": 264.26755142211914, "output_transfer_ms": 0.09148940443992615, "total_ms": 385.8266603201628, "control_frequency_hz": 2.5918374825891766, "prefill_share": 0.27580360554892985, "sample_share": 0.684938545207911, "other_share": 0.013398053987013587, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.493079200387001, "prefix_embed_ms": 50.017982482910156, "prefill_forward_ms": 56.93644714355469, "prefill_ms": 106.95442962646484, "step_ms": [26.685888290405273, 26.357824325561523, 27.183712005615234, 27.28860855102539, 26.57935905456543, 27.2959041595459, 27.202463150024414, 26.655744552612305, 26.24127960205078, 26.314207077026367], "step_mean_ms": 26.780499076843263, "step_p50_ms": 26.67081642150879, "step_p95_ms": 27.29262113571167, "sample_ms": 267.8049907684326, "sample_ms_from_mean": 267.8049907684326, "output_transfer_ms": 0.07621198892593384, "total_ms": 390.4458899050951, "control_frequency_hz": 2.5611743543851055, "prefill_share": 0.27392894224718833, "sample_share": 0.6858952743324496, "other_share": 0.013105985882265343, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.261517018079758, "prefix_embed_ms": 49.54022216796875, "prefill_forward_ms": 56.95180892944336, "prefill_ms": 106.49203109741211, "step_ms": [27.099679946899414, 26.823040008544922, 26.900096893310547, 26.113632202148438, 26.41094398498535, 26.408992767333984, 26.227712631225586, 26.65500831604004, 26.09903907775879, 26.68230438232422], "step_mean_ms": 26.542045021057127, "step_p50_ms": 26.532976150512695, "step_p95_ms": 27.009867572784422, "sample_ms": 265.4204502105713, "sample_ms_from_mean": 265.4204502105713, "output_transfer_ms": 0.07743760943412781, "total_ms": 387.4255511909723, "control_frequency_hz": 2.5811410654922797, "prefill_share": 0.27487095461321126, "sample_share": 0.6850876236599545, "other_share": 0.013355121363496713, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.051518678665161, "prefix_embed_ms": 50.28761672973633, "prefill_forward_ms": 56.15923309326172, "prefill_ms": 106.44684982299805, "step_ms": [26.57142448425293, 26.682048797607422, 26.84272003173828, 26.374879837036133, 26.18172836303711, 26.22876739501953, 26.160640716552734, 26.222272872924805, 25.962848663330078, 26.454143524169922], "step_mean_ms": 26.368147468566896, "step_p50_ms": 26.301823616027832, "step_p95_ms": 26.770417976379395, "sample_ms": 263.68147468566895, "sample_ms_from_mean": 263.68147468566895, "output_transfer_ms": 0.07550977170467377, "total_ms": 385.37883944809437, "control_frequency_hz": 2.5948492694412386, "prefill_share": 0.2762135304975277, "sample_share": 0.6842136819532965, "other_share": 0.013294675173123017, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.04890538752079, "prefix_embed_ms": 50.069759368896484, "prefill_forward_ms": 56.544254302978516, "prefill_ms": 106.614013671875, "step_ms": [27.16524887084961, 26.190624237060547, 26.557727813720703, 26.235136032104492, 26.38323211669922, 26.323392868041992, 26.87766456604004, 26.61065673828125, 26.5166072845459, 26.23481559753418], "step_mean_ms": 26.509510612487794, "step_p50_ms": 26.44991970062256, "step_p95_ms": 27.035835933685302, "sample_ms": 265.09510612487793, "sample_ms_from_mean": 265.09510612487793, "output_transfer_ms": 0.07298588752746582, "total_ms": 387.1838375926018, "control_frequency_hz": 2.5827524367176937, "prefill_share": 0.2753576035992887, "sample_share": 0.6846750313059641, "other_share": 0.013825025739924819, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.490091517567635, "prefix_embed_ms": 52.313758850097656, "prefill_forward_ms": 56.12131118774414, "prefill_ms": 108.4350700378418, "step_ms": [27.063936233520508, 26.429567337036133, 26.243135452270508, 26.711904525756836, 26.26371192932129, 26.112031936645508, 26.125120162963867, 26.621023178100586, 26.728479385375977, 26.470495223999023], "step_mean_ms": 26.476940536499022, "step_p50_ms": 26.450031280517578, "step_p95_ms": 26.91298065185547, "sample_ms": 264.76940536499023, "sample_ms_from_mean": 264.76940536499023, "output_transfer_ms": 0.08177198469638824, "total_ms": 389.7617198526859, "control_frequency_hz": 2.5656701237308766, "prefill_share": 0.2782086195607558, "sample_share": 0.6793109530229451, "other_share": 0.015356513076379344, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.305194184184074, "prefix_embed_ms": 50.22492980957031, "prefill_forward_ms": 56.12236785888672, "prefill_ms": 106.34729766845703, "step_ms": [26.850271224975586, 26.563199996948242, 26.079296112060547, 26.98886489868164, 26.43270492553711, 27.834720611572266, 26.325279235839844, 26.2325439453125, 26.407615661621094, 26.402175903320312], "step_mean_ms": 26.611667251586915, "step_p50_ms": 26.4201602935791, "step_p95_ms": 27.454085540771484, "sample_ms": 266.11667251586914, "sample_ms_from_mean": 266.11667251586914, "output_transfer_ms": 0.07766671478748322, "total_ms": 388.0074769258499, "control_frequency_hz": 2.5772699225358093, "prefill_share": 0.2740856916238769, "sample_share": 0.6858544959604613, "other_share": 0.013300377310869216, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.788550600409508, "prefix_embed_ms": 51.68592071533203, "prefill_forward_ms": 58.49702453613281, "prefill_ms": 110.18294525146484, "step_ms": [27.005952835083008, 28.692127227783203, 28.772512435913086, 26.869535446166992, 27.307071685791016, 27.601343154907227, 27.350656509399414, 26.734176635742188, 26.734752655029297, 26.33344078063965], "step_mean_ms": 27.340156936645506, "step_p50_ms": 27.15651226043701, "step_p95_ms": 28.73633909225464, "sample_ms": 273.4015693664551, "sample_ms_from_mean": 273.4015693664551, "output_transfer_ms": 0.06833858788013458, "total_ms": 399.70527589321136, "control_frequency_hz": 2.501843383891606, "prefill_share": 0.2756604725950684, "sample_share": 0.6840079074650477, "other_share": 0.013169383554517156, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.603444650769234, "prefix_embed_ms": 50.45622253417969, "prefill_forward_ms": 59.295745849609375, "prefill_ms": 109.75196838378906, "step_ms": [27.3635196685791, 26.67475128173828, 27.2541446685791, 26.8951358795166, 26.757919311523438, 26.667200088500977, 26.772415161132812, 27.042560577392578, 26.185760498046875, 26.536224365234375], "step_mean_ms": 26.814963150024415, "step_p50_ms": 26.765167236328125, "step_p95_ms": 27.3143009185791, "sample_ms": 268.14963150024414, "sample_ms_from_mean": 268.14963150024414, "output_transfer_ms": 0.08353590965270996, "total_ms": 394.40267719328403, "control_frequency_hz": 2.5354797465280194, "prefill_share": 0.27827389297868066, "sample_share": 0.6798879597078208, "other_share": 0.014741524551010049, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.336628183722496, "prefix_embed_ms": 49.603904724121094, "prefill_forward_ms": 59.247615814208984, "prefill_ms": 108.85152053833008, "step_ms": [27.56108856201172, 26.63827133178711, 26.42255973815918, 26.508447647094727, 27.074527740478516, 26.909055709838867, 26.972576141357422, 26.70502471923828, 27.3767032623291, 26.537919998168945], "step_mean_ms": 26.870617485046388, "step_p50_ms": 26.807040214538574, "step_p95_ms": 27.478115177154542, "sample_ms": 268.70617485046387, "sample_ms_from_mean": 268.70617485046387, "output_transfer_ms": 0.0889897346496582, "total_ms": 393.3445755392313, "control_frequency_hz": 2.542300217637709, "prefill_share": 0.27673324435479213, "sample_share": 0.6831317668029305, "other_share": 0.01362993813939219, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.143755003809929, "prefix_embed_ms": 50.157470703125, "prefill_forward_ms": 59.266048431396484, "prefill_ms": 109.42351913452148, "step_ms": [27.165407180786133, 26.839807510375977, 27.100799560546875, 26.532800674438477, 26.496448516845703, 26.488927841186523, 26.391935348510742, 26.4385929107666, 26.548063278198242, 26.673471450805664], "step_mean_ms": 26.667625427246094, "step_p50_ms": 26.54043197631836, "step_p95_ms": 27.136333751678468, "sample_ms": 266.67625427246094, "sample_ms_from_mean": 266.67625427246094, "output_transfer_ms": 0.07636845111846924, "total_ms": 391.8199148029089, "control_frequency_hz": 2.552192888161426, "prefill_share": 0.2792699273327215, "sample_share": 0.680609239595703, "other_share": 0.014037106673775543, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.582434013485909, "prefix_embed_ms": 52.02579116821289, "prefill_forward_ms": 59.245567321777344, "prefill_ms": 111.27135848999023, "step_ms": [27.165855407714844, 26.727840423583984, 26.690176010131836, 26.31545639038086, 26.328384399414062, 26.004671096801758, 26.777151107788086, 26.321247100830078, 26.55299186706543, 26.791135787963867], "step_mean_ms": 26.56749095916748, "step_p50_ms": 26.621583938598633, "step_p95_ms": 26.997231578826902, "sample_ms": 265.6749095916748, "sample_ms_from_mean": 265.6749095916748, "output_transfer_ms": 0.07079355418682098, "total_ms": 392.7063159644604, "control_frequency_hz": 2.546432179335, "prefill_share": 0.2833449678972319, "sample_share": 0.6765231390261576, "other_share": 0.013004171584509906, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.990425944328308, "prefix_embed_ms": 50.69443130493164, "prefill_forward_ms": 59.210750579833984, "prefill_ms": 109.90518188476562, "step_ms": [27.311359405517578, 26.344736099243164, 27.408384323120117, 26.27190399169922, 26.270751953125, 26.61177635192871, 27.382720947265625, 26.95043182373047, 26.654783248901367, 26.87945556640625], "step_mean_ms": 26.80863037109375, "step_p50_ms": 26.76711940765381, "step_p95_ms": 27.396835803985596, "sample_ms": 268.0863037109375, "sample_ms_from_mean": 268.0863037109375, "output_transfer_ms": 0.06974861025810242, "total_ms": 394.2013029009104, "control_frequency_hz": 2.5367749742099863, "prefill_share": 0.2788047149412702, "sample_share": 0.6800746261823641, "other_share": 0.013063484855896831, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.169720277190208, "prefix_embed_ms": 50.094207763671875, "prefill_forward_ms": 57.585662841796875, "prefill_ms": 107.67987060546875, "step_ms": [27.174943923950195, 27.62563133239746, 27.09846305847168, 26.783296585083008, 26.551584243774414, 26.748319625854492, 26.508159637451172, 26.937728881835938, 26.22377586364746, 26.215648651123047], "step_mean_ms": 26.786755180358888, "step_p50_ms": 26.76580810546875, "step_p95_ms": 27.42282199859619, "sample_ms": 267.86755180358887, "sample_ms_from_mean": 267.86755180358887, "output_transfer_ms": 0.06954744458198547, "total_ms": 390.77545888721943, "control_frequency_hz": 2.5590143322910333, "prefill_share": 0.2755543321786385, "sample_share": 0.6854769042210948, "other_share": 0.012766330748086746, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.626701638102531, "prefix_embed_ms": 50.09881591796875, "prefill_forward_ms": 57.2334098815918, "prefill_ms": 107.33222579956055, "step_ms": [26.467647552490234, 26.349695205688477, 27.395296096801758, 27.47430419921875, 27.746688842773438, 27.008832931518555, 27.24166488647461, 27.51043128967285, 27.179807662963867, 28.871360778808594], "step_mean_ms": 27.324572944641112, "step_p50_ms": 27.318480491638184, "step_p95_ms": 28.365258407592773, "sample_ms": 273.24572944641113, "sample_ms_from_mean": 273.24572944641113, "output_transfer_ms": 0.07552653551101685, "total_ms": 396.42124250531197, "control_frequency_hz": 2.5225691582019603, "prefill_share": 0.2707529624831402, "sample_share": 0.689281249711914, "other_share": 0.012968677090148237, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.748378932476044, "prefix_embed_ms": 51.22662353515625, "prefill_forward_ms": 57.2303352355957, "prefill_ms": 108.45695877075195, "step_ms": [26.537343978881836, 26.173280715942383, 26.313888549804688, 26.270336151123047, 26.69900894165039, 26.21468734741211, 26.504735946655273, 26.720767974853516, 26.242271423339844, 26.8353271484375], "step_mean_ms": 26.45116481781006, "step_p50_ms": 26.40931224822998, "step_p95_ms": 26.783775520324706, "sample_ms": 264.5116481781006, "sample_ms_from_mean": 264.5116481781006, "output_transfer_ms": 0.07303059101104736, "total_ms": 388.95006850361824, "control_frequency_hz": 2.5710241004641894, "prefill_share": 0.2788454548626542, "sample_share": 0.6800658223194013, "other_share": 0.013266618132066503, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.457422584295273, "prefix_embed_ms": 50.54934310913086, "prefill_forward_ms": 57.18425750732422, "prefill_ms": 107.73360061645508, "step_ms": [26.93756866455078, 26.016096115112305, 26.330528259277344, 26.891359329223633, 26.208511352539062, 26.425695419311523, 26.1210880279541, 26.27225685119629, 26.121055603027344, 26.384063720703125], "step_mean_ms": 26.37082233428955, "step_p50_ms": 26.301392555236816, "step_p95_ms": 26.916774463653564, "sample_ms": 263.7082233428955, "sample_ms_from_mean": 263.7082233428955, "output_transfer_ms": 0.0749882310628891, "total_ms": 387.01349310576916, "control_frequency_hz": 2.5838892385250873, "prefill_share": 0.278371691260418, "sample_share": 0.6813928404062779, "other_share": 0.013020885371774885, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.606979951262474, "prefix_embed_ms": 49.813663482666016, "prefill_forward_ms": 57.25183868408203, "prefill_ms": 107.06550216674805, "step_ms": [26.66320037841797, 26.197248458862305, 26.728351593017578, 26.379423141479492, 26.302560806274414, 26.05673599243164, 26.052928924560547, 26.12348747253418, 26.156864166259766, 26.03718376159668], "step_mean_ms": 26.269798469543456, "step_p50_ms": 26.177056312561035, "step_p95_ms": 26.699033546447755, "sample_ms": 262.69798469543457, "sample_ms_from_mean": 262.69798469543457, "output_transfer_ms": 0.07086247205734253, "total_ms": 385.4738883674145, "control_frequency_hz": 2.594209439802184, "prefill_share": 0.277750336398139, "sample_share": 0.6814935917139061, "other_share": 0.013055512276658429, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.152505710721016, "prefix_embed_ms": 48.6036491394043, "prefill_forward_ms": 56.88524627685547, "prefill_ms": 105.48889541625977, "step_ms": [26.867616653442383, 26.266815185546875, 26.738752365112305, 26.384000778198242, 26.289888381958008, 26.29964828491211, 26.07708740234375, 26.097888946533203, 26.26300811767578, 26.25222396850586], "step_mean_ms": 26.35369300842285, "step_p50_ms": 26.27835178375244, "step_p95_ms": 26.809627723693847, "sample_ms": 263.5369300842285, "sample_ms_from_mean": 263.5369300842285, "output_transfer_ms": 0.07558055222034454, "total_ms": 384.26689617335796, "control_frequency_hz": 2.602357918307021, "prefill_share": 0.27451986227996483, "sample_share": 0.6858174167710158, "other_share": 0.013045579673526618, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.10202057659626, "prefix_embed_ms": 49.402305603027344, "prefill_forward_ms": 56.67020797729492, "prefill_ms": 106.07251358032227, "step_ms": [26.642208099365234, 26.527231216430664, 26.231264114379883, 26.353408813476562, 26.14678382873535, 26.307584762573242, 26.48454475402832, 26.438175201416016, 26.466943740844727, 26.490495681762695], "step_mean_ms": 26.40886402130127, "step_p50_ms": 26.45255947113037, "step_p95_ms": 26.59046850204468, "sample_ms": 264.0886402130127, "sample_ms_from_mean": 264.0886402130127, "output_transfer_ms": 0.07844343781471252, "total_ms": 385.96539944410324, "control_frequency_hz": 2.590905820677906, "prefill_share": 0.2748238928491932, "sample_share": 0.6842287951028079, "other_share": 0.014570688575859666, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.20733267068863, "prefix_embed_ms": 49.82620620727539, "prefill_forward_ms": 56.64460754394531, "prefill_ms": 106.4708137512207, "step_ms": [26.762496948242188, 27.22287940979004, 26.465696334838867, 27.222496032714844, 26.445024490356445, 26.464096069335938, 26.908096313476562, 26.669471740722656, 26.837696075439453, 27.812959671020508], "step_mean_ms": 26.88109130859375, "step_p50_ms": 26.80009651184082, "step_p95_ms": 27.547423553466796, "sample_ms": 268.8109130859375, "sample_ms_from_mean": 268.8109130859375, "output_transfer_ms": 0.08053146302700043, "total_ms": 390.78221656382084, "control_frequency_hz": 2.5589700800437636, "prefill_share": 0.2724556267872859, "sample_share": 0.6878790837761587, "other_share": 0.013338952930821771, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.808408260345459, "prefix_embed_ms": 51.26371383666992, "prefill_forward_ms": 56.44697570800781, "prefill_ms": 107.71068954467773, "step_ms": [27.929119110107422, 26.660863876342773, 26.114303588867188, 26.233919143676758, 26.245824813842773, 26.394336700439453, 26.005407333374023, 26.370336532592773, 26.577407836914062, 26.099679946899414], "step_mean_ms": 26.463119888305663, "step_p50_ms": 26.308080673217773, "step_p95_ms": 27.358404254913328, "sample_ms": 264.63119888305664, "sample_ms_from_mean": 264.63119888305664, "output_transfer_ms": 0.06871670484542847, "total_ms": 388.25497031211853, "control_frequency_hz": 2.575627040128035, "prefill_share": 0.277422564502108, "sample_share": 0.6815912715047006, "other_share": 0.012970746813994054, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.816983878612518, "prefix_embed_ms": 50.58147048950195, "prefill_forward_ms": 56.44083023071289, "prefill_ms": 107.02230072021484, "step_ms": [28.050687789916992, 26.61199951171875, 26.279552459716797, 26.734272003173828, 26.13430404663086, 26.398496627807617, 26.37321662902832, 26.91651153564453, 27.00739288330078, 26.675264358520508], "step_mean_ms": 26.7181697845459, "step_p50_ms": 26.64363193511963, "step_p95_ms": 27.581205081939697, "sample_ms": 267.181697845459, "sample_ms_from_mean": 267.181697845459, "output_transfer_ms": 0.0865403562784195, "total_ms": 390.6394988298416, "control_frequency_hz": 2.5599049839954593, "prefill_share": 0.2739669210123388, "sample_share": 0.6839597599469593, "other_share": 0.014161333008689214, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.623205453157425, "prefix_embed_ms": 50.47846221923828, "prefill_forward_ms": 56.52377700805664, "prefill_ms": 107.00223922729492, "step_ms": [26.63724708557129, 26.57859230041504, 27.289215087890625, 26.751007080078125, 26.786048889160156, 26.637439727783203, 26.788192749023438, 26.589279174804688, 26.22812843322754, 26.60246467590332], "step_mean_ms": 26.688761520385743, "step_p50_ms": 26.637343406677246, "step_p95_ms": 27.06375503540039, "sample_ms": 266.8876152038574, "sample_ms_from_mean": 266.8876152038574, "output_transfer_ms": 0.07644854485988617, "total_ms": 389.93686996400356, "control_frequency_hz": 2.5645176874203086, "prefill_share": 0.274409135091977, "sample_share": 0.6844380097437176, "other_share": 0.013713403237112566, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.176388710737228, "prefix_embed_ms": 50.192543029785156, "prefill_forward_ms": 56.39680099487305, "prefill_ms": 106.5893440246582, "step_ms": [26.846752166748047, 26.26838493347168, 26.705280303955078, 26.30646324157715, 26.69647979736328, 26.586048126220703, 26.374624252319336, 26.626144409179688, 26.44278335571289, 26.4201602935791], "step_mean_ms": 26.527312088012696, "step_p50_ms": 26.514415740966797, "step_p95_ms": 26.78308982849121, "sample_ms": 265.27312088012695, "sample_ms_from_mean": 265.27312088012695, "output_transfer_ms": 0.06816163659095764, "total_ms": 388.861620798707, "control_frequency_hz": 2.5716088873621366, "prefill_share": 0.2741061043919113, "sample_share": 0.6821787152336248, "other_share": 0.014798594766883718, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.44417917728424, "prefix_embed_ms": 49.96531295776367, "prefill_forward_ms": 56.41727828979492, "prefill_ms": 106.3825912475586, "step_ms": [26.795103073120117, 26.24835205078125, 26.37276840209961, 26.883968353271484, 27.04217529296875, 26.2476806640625, 26.472991943359375, 26.592927932739258, 26.4003849029541, 26.44816017150879], "step_mean_ms": 26.550451278686523, "step_p50_ms": 26.460576057434082, "step_p95_ms": 26.970982170104982, "sample_ms": 265.50451278686523, "sample_ms_from_mean": 265.50451278686523, "output_transfer_ms": 0.0753793865442276, "total_ms": 387.42167316377163, "control_frequency_hz": 2.5811669022896355, "prefill_share": 0.2745912235080053, "sample_share": 0.6853114608139919, "other_share": 0.01294457928635133, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.667620226740837, "prefix_embed_ms": 50.00457763671875, "prefill_forward_ms": 58.51238250732422, "prefill_ms": 108.51696014404297, "step_ms": [26.838176727294922, 26.231552124023438, 26.34351921081543, 26.311424255371094, 26.431520462036133, 27.217151641845703, 26.082719802856445, 26.061471939086914, 26.106975555419922, 27.52400016784668], "step_mean_ms": 26.51485118865967, "step_p50_ms": 26.32747173309326, "step_p95_ms": 27.38591833114624, "sample_ms": 265.1485118865967, "sample_ms_from_mean": 265.1485118865967, "output_transfer_ms": 0.07511675357818604, "total_ms": 389.607310295105, "control_frequency_hz": 2.5666869526718017, "prefill_share": 0.278529065745321, "sample_share": 0.6805532259796717, "other_share": 0.01334446543163754, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.417580604553223, "prefix_embed_ms": 49.926815032958984, "prefill_forward_ms": 59.236351013183594, "prefill_ms": 109.16316604614258, "step_ms": [27.287904739379883, 26.91551971435547, 26.63225555419922, 26.727487564086914, 26.787872314453125, 26.754175186157227, 26.59542465209961, 26.84623908996582, 26.54083251953125, 26.732223510742188], "step_mean_ms": 26.78199348449707, "step_p50_ms": 26.743199348449707, "step_p95_ms": 27.120331478118896, "sample_ms": 267.8199348449707, "sample_ms_from_mean": 267.8199348449707, "output_transfer_ms": 0.07208064198493958, "total_ms": 392.7533160895109, "control_frequency_hz": 2.5461274521030237, "prefill_share": 0.27794333382856434, "sample_share": 0.6819036883292231, "other_share": 0.013444963379140517, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.605907067656517, "prefix_embed_ms": 51.979488372802734, "prefill_forward_ms": 59.375614166259766, "prefill_ms": 111.3551025390625, "step_ms": [27.289535522460938, 33.0568962097168, 20.747039794921875, 20.468416213989258, 38.74736022949219, 26.673599243164062, 26.971935272216797, 26.475296020507812, 26.85036849975586, 27.12816047668457], "step_mean_ms": 27.440860748291016, "step_p50_ms": 26.911151885986328, "step_p95_ms": 36.18665142059326, "sample_ms": 274.40860748291016, "sample_ms_from_mean": 274.40860748291016, "output_transfer_ms": 0.08547119796276093, "total_ms": 401.6610402613878, "control_frequency_hz": 2.4896614303175455, "prefill_share": 0.27723650386055926, "sample_share": 0.683184526197348, "other_share": 0.012961057837245125, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.655071586370468, "prefix_embed_ms": 51.531776428222656, "prefill_forward_ms": 59.242496490478516, "prefill_ms": 110.77427291870117, "step_ms": [28.521984100341797, 26.864351272583008, 26.721696853637695, 26.587072372436523, 26.974943161010742, 26.8853759765625, 26.63590431213379, 27.08582305908203, 27.762720108032227, 27.39676856994629], "step_mean_ms": 27.14366397857666, "step_p50_ms": 26.93015956878662, "step_p95_ms": 28.18031530380249, "sample_ms": 271.4366397857666, "sample_ms_from_mean": 271.4366397857666, "output_transfer_ms": 0.07375888526439667, "total_ms": 398.2192575931549, "control_frequency_hz": 2.5111794091627306, "prefill_share": 0.2781740732184151, "sample_share": 0.6816261007223383, "other_share": 0.013257807894479435, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.861638933420181, "prefix_embed_ms": 51.85433578491211, "prefill_forward_ms": 59.34284973144531, "prefill_ms": 111.19718551635742, "step_ms": [27.00668716430664, 27.05299186706543, 27.319904327392578, 26.806976318359375, 26.74790382385254, 27.4682559967041, 27.115680694580078, 27.342432022094727, 26.98543930053711, 27.824960708618164], "step_mean_ms": 27.167123222351073, "step_p50_ms": 27.084336280822754, "step_p95_ms": 27.664443588256834, "sample_ms": 271.67123222351074, "sample_ms_from_mean": 271.67123222351074, "output_transfer_ms": 0.07779337465763092, "total_ms": 399.2225956171751, "control_frequency_hz": 2.5048682388682377, "prefill_share": 0.2785342982514629, "sample_share": 0.6805006410108694, "other_share": 0.013563224197914553, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.628895834088326, "prefix_embed_ms": 51.98313522338867, "prefill_forward_ms": 59.31827163696289, "prefill_ms": 111.30140686035156, "step_ms": [27.802656173706055, 26.837631225585938, 27.097631454467773, 26.94246482849121, 26.732576370239258, 26.689184188842773, 27.41004753112793, 27.023231506347656, 27.022239685058594, 27.397632598876953], "step_mean_ms": 27.095529556274414, "step_p50_ms": 27.022735595703125, "step_p95_ms": 27.6259822845459, "sample_ms": 270.95529556274414, "sample_ms_from_mean": 270.95529556274414, "output_transfer_ms": 0.07050484418869019, "total_ms": 398.46340380609035, "control_frequency_hz": 2.509640761103982, "prefill_share": 0.27932654742495666, "sample_share": 0.6800004541812397, "other_share": 0.013821346332216065, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.830169543623924, "prefix_embed_ms": 52.24099349975586, "prefill_forward_ms": 59.476993560791016, "prefill_ms": 111.71798706054688, "step_ms": [28.173503875732422, 26.370943069458008, 27.150880813598633, 26.461824417114258, 27.69923210144043, 26.302879333496094, 27.13692855834961, 26.424448013305664, 27.557632446289062, 27.83500862121582], "step_mean_ms": 27.111328125, "step_p50_ms": 27.14390468597412, "step_p95_ms": 28.02118101119995, "sample_ms": 271.11328125, "sample_ms_from_mean": 271.11328125, "output_transfer_ms": 0.08968636393547058, "total_ms": 399.3205241858959, "control_frequency_hz": 2.5042539499784624, "prefill_share": 0.27977021038001726, "sample_share": 0.6789365054619343, "other_share": 0.013947191868347152, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.504929512739182, "prefix_embed_ms": 54.48396682739258, "prefill_forward_ms": 59.507713317871094, "prefill_ms": 113.99168014526367, "step_ms": [27.317312240600586, 28.527008056640625, 28.189983367919922, 27.983903884887695, 26.514080047607422, 26.62601661682129, 26.999296188354492, 26.46031951904297, 26.579296112060547, 26.207904815673828], "step_mean_ms": 27.14051208496094, "step_p50_ms": 26.81265640258789, "step_p95_ms": 28.37534694671631, "sample_ms": 271.4051208496094, "sample_ms_from_mean": 271.4051208496094, "output_transfer_ms": 0.08813105523586273, "total_ms": 402.6181660592556, "control_frequency_hz": 2.4837428717829497, "prefill_share": 0.28312602300336065, "sample_share": 0.6741005342756072, "other_share": 0.013979261173176074, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.193377897143364, "prefix_embed_ms": 50.31324768066406, "prefill_forward_ms": 59.32236862182617, "prefill_ms": 109.63561630249023, "step_ms": [26.866655349731445, 27.04332733154297, 26.638656616210938, 26.435455322265625, 26.183456420898438, 26.441024780273438, 27.165599822998047, 26.5361270904541, 26.323135375976562, 26.51750373840332], "step_mean_ms": 26.61509418487549, "step_p50_ms": 26.52681541442871, "step_p95_ms": 27.110577201843263, "sample_ms": 266.1509418487549, "sample_ms_from_mean": 266.1509418487549, "output_transfer_ms": 0.08131377398967743, "total_ms": 392.24528707563877, "control_frequency_hz": 2.549425150408919, "prefill_share": 0.2795077975821507, "sample_share": 0.6785319049542374, "other_share": 0.013216314954119377, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.28796860575676, "prefix_embed_ms": 51.193023681640625, "prefill_forward_ms": 59.30905532836914, "prefill_ms": 110.50207901000977, "step_ms": [26.856096267700195, 26.7508487701416, 27.707904815673828, 26.69487953186035, 26.936607360839844, 27.572063446044922, 27.14259147644043, 26.716447830200195, 26.430688858032227, 26.19487953186035], "step_mean_ms": 26.900300788879395, "step_p50_ms": 26.8034725189209, "step_p95_ms": 27.64677619934082, "sample_ms": 269.00300788879395, "sample_ms_from_mean": 269.00300788879395, "output_transfer_ms": 0.07822923362255096, "total_ms": 396.122420206666, "control_frequency_hz": 2.5244721050585257, "prefill_share": 0.2789594160117429, "sample_share": 0.6790905895920989, "other_share": 0.013256345010068693, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.825155302882195, "prefix_embed_ms": 51.4444465637207, "prefill_forward_ms": 59.233280181884766, "prefill_ms": 110.67772674560547, "step_ms": [27.196224212646484, 26.468416213989258, 26.653823852539062, 26.46329689025879, 26.52182388305664, 26.81180763244629, 26.31203269958496, 26.602399826049805, 26.204320907592773, 26.44870376586914], "step_mean_ms": 26.56828498840332, "step_p50_ms": 26.49512004852295, "step_p95_ms": 27.023236751556396, "sample_ms": 265.6828498840332, "sample_ms_from_mean": 265.6828498840332, "output_transfer_ms": 0.08247978985309601, "total_ms": 392.35769771039486, "control_frequency_hz": 2.5486947391003274, "prefill_share": 0.2820837398921083, "sample_share": 0.6771444817686175, "other_share": 0.012971546162393693, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.644592344760895, "prefix_embed_ms": 50.32502365112305, "prefill_forward_ms": 59.32748794555664, "prefill_ms": 109.65251159667969, "step_ms": [27.329280853271484, 26.540224075317383, 26.73561668395996, 26.67852783203125, 26.622751235961914, 26.77552032470703, 26.30918312072754, 26.30227279663086, 26.46988868713379, 26.6856632232666], "step_mean_ms": 26.64489288330078, "step_p50_ms": 26.650639533996582, "step_p95_ms": 27.08008861541748, "sample_ms": 266.4489288330078, "sample_ms_from_mean": 266.4489288330078, "output_transfer_ms": 0.07290206849575043, "total_ms": 391.9330183416605, "control_frequency_hz": 2.551456379539496, "prefill_share": 0.27977360024587694, "sample_share": 0.679832819292443, "other_share": 0.013048360968297508, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.323751717805862, "prefix_embed_ms": 50.613983154296875, "prefill_forward_ms": 59.233280181884766, "prefill_ms": 109.84726333618164, "step_ms": [27.059616088867188, 26.592512130737305, 26.27948760986328, 26.369983673095703, 27.335647583007812, 26.71129608154297, 27.06729507446289, 27.506271362304688, 26.42416000366211, 27.882911682128906], "step_mean_ms": 26.922918128967286, "step_p50_ms": 26.885456085205078, "step_p95_ms": 27.71342353820801, "sample_ms": 269.22918128967285, "sample_ms_from_mean": 269.22918128967285, "output_transfer_ms": 0.07126480340957642, "total_ms": 394.66365799307823, "control_frequency_hz": 2.5338030997967853, "prefill_share": 0.2783313363454108, "sample_share": 0.6821737341075238, "other_share": 0.013156004463170926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.511795058846474, "prefix_embed_ms": 52.28812789916992, "prefill_forward_ms": 59.3172492980957, "prefill_ms": 111.60537719726562, "step_ms": [28.164512634277344, 27.27324867248535, 27.7587833404541, 27.486047744750977, 28.027135848999023, 26.873632431030273, 26.00499153137207, 26.536928176879883, 26.647743225097656, 27.483808517456055], "step_mean_ms": 27.225683212280273, "step_p50_ms": 27.378528594970703, "step_p95_ms": 28.1026930809021, "sample_ms": 272.25683212280273, "sample_ms_from_mean": 272.25683212280273, "output_transfer_ms": 0.07993914186954498, "total_ms": 400.103610008955, "control_frequency_hz": 2.4993526051355004, "prefill_share": 0.27894119024511604, "sample_share": 0.6804658226320657, "other_share": 0.014120508655355983, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.73429936170578, "prefix_embed_ms": 50.725215911865234, "prefill_forward_ms": 59.33772659301758, "prefill_ms": 110.06294250488281, "step_ms": [27.49456024169922, 26.407743453979492, 26.60585594177246, 26.332351684570312, 26.426912307739258, 26.21494483947754, 26.529056549072266, 26.441408157348633, 26.317535400390625, 26.37945556640625], "step_mean_ms": 26.514982414245605, "step_p50_ms": 26.417327880859375, "step_p95_ms": 27.094643306732177, "sample_ms": 265.14982414245605, "sample_ms_from_mean": 265.14982414245605, "output_transfer_ms": 0.07455423474311829, "total_ms": 392.3846185207367, "control_frequency_hz": 2.5485198776902416, "prefill_share": 0.280497596770772, "sample_share": 0.6757395973931212, "other_share": 0.013667707712822861, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.59110090136528, "prefix_embed_ms": 50.99740982055664, "prefill_forward_ms": 59.28960037231445, "prefill_ms": 110.2870101928711, "step_ms": [27.32454490661621, 26.635263442993164, 26.607744216918945, 26.93916893005371, 26.54902458190918, 26.284799575805664, 26.549951553344727, 26.48214340209961, 26.679168701171875, 26.042240142822266], "step_mean_ms": 26.609404945373534, "step_p50_ms": 26.578847885131836, "step_p95_ms": 27.151125717163087, "sample_ms": 266.09404945373535, "sample_ms_from_mean": 266.09404945373535, "output_transfer_ms": 0.07334165275096893, "total_ms": 392.33130030333996, "control_frequency_hz": 2.548866224098936, "prefill_share": 0.28110683523746427, "sample_share": 0.678238135086338, "other_share": 0.013472792251167388, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.77862472832203, "prefix_embed_ms": 51.80303955078125, "prefill_forward_ms": 57.2334098815918, "prefill_ms": 109.03644943237305, "step_ms": [28.21232032775879, 26.417695999145508, 26.698848724365234, 26.423839569091797, 27.678911209106445, 26.78495979309082, 26.78780746459961, 26.72960090637207, 26.67840003967285, 26.45142364501953], "step_mean_ms": 26.886380767822267, "step_p50_ms": 26.714224815368652, "step_p95_ms": 27.972286224365234, "sample_ms": 268.86380767822266, "sample_ms_from_mean": 268.86380767822266, "output_transfer_ms": 0.07500499486923218, "total_ms": 395.34734562039375, "control_frequency_hz": 2.5294213078141774, "prefill_share": 0.27579911852264744, "sample_share": 0.6800698440413494, "other_share": 0.014148213839223645, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.626502498984337, "prefix_embed_ms": 50.81283187866211, "prefill_forward_ms": 57.46585464477539, "prefill_ms": 108.2786865234375, "step_ms": [28.115615844726562, 26.583871841430664, 26.549823760986328, 26.27622413635254, 26.5229434967041, 26.819488525390625, 26.727935791015625, 27.968063354492188, 27.012287139892578, 27.44550323486328], "step_mean_ms": 27.002175712585448, "step_p50_ms": 26.773712158203125, "step_p95_ms": 28.049217224121094, "sample_ms": 270.0217571258545, "sample_ms_from_mean": 270.0217571258545, "output_transfer_ms": 0.07083453238010406, "total_ms": 396.04473300278187, "control_frequency_hz": 2.5249672995726367, "prefill_share": 0.273400142712356, "sample_share": 0.6817961069159272, "other_share": 0.015268356875441544, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.337563395500183, "prefix_embed_ms": 51.383487701416016, "prefill_forward_ms": 59.34899139404297, "prefill_ms": 110.73247909545898, "step_ms": [28.172767639160156, 26.250463485717773, 26.660863876342773, 26.1661434173584, 27.167264938354492, 26.733888626098633, 26.0850887298584, 26.383487701416016, 26.864063262939453, 26.889728546142578], "step_mean_ms": 26.737376022338868, "step_p50_ms": 26.697376251220703, "step_p95_ms": 27.720291423797605, "sample_ms": 267.3737602233887, "sample_ms_from_mean": 267.3737602233887, "output_transfer_ms": 0.08546188473701477, "total_ms": 394.93403397500515, "control_frequency_hz": 2.5320684316188578, "prefill_share": 0.2803822146725068, "sample_share": 0.6770086577048723, "other_share": 0.013685245916948136, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.724963784217834, "prefix_embed_ms": 51.70694351196289, "prefill_forward_ms": 57.875457763671875, "prefill_ms": 109.58240127563477, "step_ms": [26.841888427734375, 26.44476890563965, 27.741823196411133, 27.025503158569336, 26.716991424560547, 26.615392684936523, 26.780895233154297, 26.46931266784668, 28.420127868652344, 28.199487686157227], "step_mean_ms": 27.12561912536621, "step_p50_ms": 26.811391830444336, "step_p95_ms": 28.32083978652954, "sample_ms": 271.2561912536621, "sample_ms_from_mean": 271.2561912536621, "output_transfer_ms": 0.0717267394065857, "total_ms": 397.8833630681038, "control_frequency_hz": 2.5132993555923946, "prefill_share": 0.27541337851032005, "sample_share": 0.6817480106782763, "other_share": 0.013189996120255489, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.645693331956863, "prefix_embed_ms": 50.491294860839844, "prefill_forward_ms": 57.72697448730469, "prefill_ms": 108.21826934814453, "step_ms": [28.259807586669922, 27.853599548339844, 27.632095336914062, 26.9234561920166, 26.9418888092041, 26.485536575317383, 26.7063045501709, 28.743616104125977, 26.804351806640625, 26.59929656982422], "step_mean_ms": 27.294995307922363, "step_p50_ms": 26.93267250061035, "step_p95_ms": 28.525902271270752, "sample_ms": 272.94995307922363, "sample_ms_from_mean": 272.94995307922363, "output_transfer_ms": 0.0771060585975647, "total_ms": 398.53654243052006, "control_frequency_hz": 2.509180196880786, "prefill_share": 0.27153913838907523, "sample_share": 0.6848806170059276, "other_share": 0.014165628522211843, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.455655097961426, "prefix_embed_ms": 50.41747283935547, "prefill_forward_ms": 57.45663833618164, "prefill_ms": 107.87411117553711, "step_ms": [26.73379135131836, 26.634431838989258, 29.30316734313965, 26.4783992767334, 26.602815628051758, 26.49305534362793, 26.280799865722656, 26.913759231567383, 26.49945640563965, 26.09343910217285], "step_mean_ms": 26.80331153869629, "step_p50_ms": 26.551136016845703, "step_p95_ms": 28.227933692932126, "sample_ms": 268.0331153869629, "sample_ms_from_mean": 268.0331153869629, "output_transfer_ms": 0.07473118603229523, "total_ms": 392.5622422248125, "control_frequency_hz": 2.5473667419785118, "prefill_share": 0.27479492312905573, "sample_share": 0.6827786438856381, "other_share": 0.013054310443295294, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.345060542225838, "prefix_embed_ms": 52.99273681640625, "prefill_forward_ms": 57.65427017211914, "prefill_ms": 110.64700698852539, "step_ms": [26.8504638671875, 26.290367126464844, 26.49523162841797, 26.34000015258789, 28.15920066833496, 26.673471450805664, 26.77836799621582, 26.647552490234375, 26.43110466003418, 26.518463134765625], "step_mean_ms": 26.71842231750488, "step_p50_ms": 26.5830078125, "step_p95_ms": 27.570269107818604, "sample_ms": 267.1842231750488, "sample_ms_from_mean": 267.1842231750488, "output_transfer_ms": 0.074043869972229, "total_ms": 394.97900009155273, "control_frequency_hz": 2.531780170004503, "prefill_share": 0.2801338981638983, "sample_share": 0.6764517179726462, "other_share": 0.01450372175344156, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.587440967559814, "prefix_embed_ms": 50.08873748779297, "prefill_forward_ms": 57.45663833618164, "prefill_ms": 107.54537582397461, "step_ms": [27.179359436035156, 26.537952423095703, 27.80873680114746, 26.3240966796875, 26.37993621826172, 26.791296005249023, 26.197471618652344, 26.285663604736328, 26.528383255004883, 26.57846450805664], "step_mean_ms": 26.661136054992674, "step_p50_ms": 26.533167839050293, "step_p95_ms": 27.525516986846924, "sample_ms": 266.61136054992676, "sample_ms_from_mean": 266.61136054992676, "output_transfer_ms": 0.0751987099647522, "total_ms": 390.9652139991522, "control_frequency_hz": 2.557772313733693, "prefill_share": 0.2750765847526471, "sample_share": 0.6819311565414741, "other_share": 0.01316188183365441, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.13867200911045, "prefix_embed_ms": 52.86070251464844, "prefill_forward_ms": 57.25289535522461, "prefill_ms": 110.11359786987305, "step_ms": [26.91756820678711, 26.132448196411133, 26.234560012817383, 26.206560134887695, 27.264671325683594, 28.255680084228516, 26.581695556640625, 26.215328216552734, 26.41321563720703, 26.325632095336914], "step_mean_ms": 26.654735946655272, "step_p50_ms": 26.369423866271973, "step_p95_ms": 27.8097261428833, "sample_ms": 266.54735946655273, "sample_ms_from_mean": 266.54735946655273, "output_transfer_ms": 0.06894208490848541, "total_ms": 393.07084307074547, "control_frequency_hz": 2.544070662142749, "prefill_share": 0.2801367738437283, "sample_share": 0.6781153172904741, "other_share": 0.013234946656586376, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.387938633561134, "prefix_embed_ms": 52.20150375366211, "prefill_forward_ms": 57.240577697753906, "prefill_ms": 109.44208145141602, "step_ms": [29.04755210876465, 26.927616119384766, 26.81100845336914, 27.88390350341797, 26.90947151184082, 26.9454402923584, 26.618911743164062, 28.684223175048828, 27.016735076904297, 26.9517765045166], "step_mean_ms": 27.37966384887695, "step_p50_ms": 26.9486083984375, "step_p95_ms": 28.884054088592528, "sample_ms": 273.79663848876953, "sample_ms_from_mean": 273.79663848876953, "output_transfer_ms": 0.08131749927997589, "total_ms": 400.2419039607048, "control_frequency_hz": 2.4984890140293223, "prefill_share": 0.2734398381788652, "sample_share": 0.6840778933423486, "other_share": 0.013826458031794341, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.897724121809006, "prefix_embed_ms": 52.181983947753906, "prefill_forward_ms": 57.14432144165039, "prefill_ms": 109.3263053894043, "step_ms": [26.70083236694336, 26.40323257446289, 27.084543228149414, 27.362144470214844, 27.4333438873291, 27.18262481689453, 26.780351638793945, 26.383808135986328, 26.323232650756836, 26.76620864868164], "step_mean_ms": 26.84203224182129, "step_p50_ms": 26.773280143737793, "step_p95_ms": 27.401304149627684, "sample_ms": 268.4203224182129, "sample_ms_from_mean": 268.4203224182129, "output_transfer_ms": 0.08914433419704437, "total_ms": 395.17706632614136, "control_frequency_hz": 2.5305112194306734, "prefill_share": 0.2766514423667916, "sample_share": 0.6792406374024864, "other_share": 0.013775015116959034, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.728890240192413, "prefix_embed_ms": 50.96092987060547, "prefill_forward_ms": 56.50124740600586, "prefill_ms": 107.46217727661133, "step_ms": [27.961280822753906, 26.422624588012695, 26.510175704956055, 26.88217544555664, 26.163135528564453, 26.26367950439453, 26.957279205322266, 26.565088272094727, 26.177343368530273, 26.47667121887207], "step_mean_ms": 26.63794536590576, "step_p50_ms": 26.493423461914062, "step_p95_ms": 27.509480094909666, "sample_ms": 266.3794536590576, "sample_ms_from_mean": 266.3794536590576, "output_transfer_ms": 0.07715635001659393, "total_ms": 390.9246064722538, "control_frequency_hz": 2.558038003859897, "prefill_share": 0.27489233345110126, "sample_share": 0.6814087659073058, "other_share": 0.013498584788497782, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.807689443230629, "prefix_embed_ms": 51.5206413269043, "prefill_forward_ms": 56.43366241455078, "prefill_ms": 107.95430374145508, "step_ms": [27.378751754760742, 26.417247772216797, 26.183040618896484, 27.025760650634766, 26.607616424560547, 26.4136962890625, 26.36195182800293, 26.481184005737305, 26.819360733032227, 27.64588737487793], "step_mean_ms": 26.733449745178223, "step_p50_ms": 26.544400215148926, "step_p95_ms": 27.525676345825197, "sample_ms": 267.3344974517822, "sample_ms_from_mean": 267.3344974517822, "output_transfer_ms": 0.09669922292232513, "total_ms": 392.34205707907677, "control_frequency_hz": 2.548796342265314, "prefill_share": 0.27515353450801944, "sample_share": 0.6813811892664385, "other_share": 0.01312341393634675, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.612923815846443, "prefix_embed_ms": 50.94326400756836, "prefill_forward_ms": 56.47974395751953, "prefill_ms": 107.42300796508789, "step_ms": [27.038240432739258, 28.419519424438477, 26.364160537719727, 26.404544830322266, 26.542943954467773, 26.49955177307129, 26.369407653808594, 29.809247970581055, 27.7706241607666, 27.368671417236328], "step_mean_ms": 27.258691215515135, "step_p50_ms": 26.790592193603516, "step_p95_ms": 29.18387012481689, "sample_ms": 272.58691215515137, "sample_ms_from_mean": 272.58691215515137, "output_transfer_ms": 0.08075125515460968, "total_ms": 396.88533917069435, "control_frequency_hz": 2.5196193996219023, "prefill_share": 0.27066509483457357, "sample_share": 0.6868152719491507, "other_share": 0.013056022654506397, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.854903772473335, "prefix_embed_ms": 51.42134475708008, "prefill_forward_ms": 56.50944137573242, "prefill_ms": 107.9307861328125, "step_ms": [27.4039363861084, 27.30886459350586, 27.427839279174805, 28.326047897338867, 30.289087295532227, 26.609535217285156, 26.83964729309082, 26.46691131591797, 26.32156753540039, 26.476896286010742], "step_mean_ms": 27.347033309936524, "step_p50_ms": 27.07425594329834, "step_p95_ms": 29.405719566345212, "sample_ms": 273.47033309936523, "sample_ms_from_mean": 273.47033309936523, "output_transfer_ms": 0.08435733616352081, "total_ms": 398.5764794051647, "control_frequency_hz": 2.5089287794713813, "prefill_share": 0.2707906555195839, "sample_share": 0.6861175890446225, "other_share": 0.013136999634711207, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.03254035115242, "prefix_embed_ms": 50.7823371887207, "prefill_forward_ms": 56.43059158325195, "prefill_ms": 107.21292877197266, "step_ms": [26.80668830871582, 26.8450870513916, 26.678943634033203, 26.59654426574707, 26.814559936523438, 26.415775299072266, 26.43132781982422, 26.76963233947754, 28.639616012573242, 26.302688598632812], "step_mean_ms": 26.830086326599123, "step_p50_ms": 26.72428798675537, "step_p95_ms": 27.8320779800415, "sample_ms": 268.3008632659912, "sample_ms_from_mean": 268.3008632659912, "output_transfer_ms": 0.07406063377857208, "total_ms": 391.6439414024353, "control_frequency_hz": 2.553339639109714, "prefill_share": 0.2737510208585241, "sample_share": 0.6850632293844107, "other_share": 0.012826825206465983, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.96315123140812, "prefix_embed_ms": 49.9134407043457, "prefill_forward_ms": 59.26911926269531, "prefill_ms": 109.18255996704102, "step_ms": [27.567264556884766, 27.257600784301758, 28.61846351623535, 27.80793571472168, 27.421728134155273, 27.297407150268555, 27.36835289001465, 27.15430450439453, 26.57948875427246, 26.61052894592285], "step_mean_ms": 27.368307495117186, "step_p50_ms": 27.3328800201416, "step_p95_ms": 28.2537260055542, "sample_ms": 273.6830749511719, "sample_ms_from_mean": 273.6830749511719, "output_transfer_ms": 0.0691395252943039, "total_ms": 398.9734072238207, "control_frequency_hz": 2.50643271429619, "prefill_share": 0.27365874013199715, "sample_share": 0.6859682124067933, "other_share": 0.012721352994983124, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.290822178125381, "prefix_embed_ms": 51.29568099975586, "prefill_forward_ms": 59.194366455078125, "prefill_ms": 110.49004745483398, "step_ms": [27.062559127807617, 26.33228874206543, 26.592479705810547, 26.74380874633789, 26.346208572387695, 26.210559844970703, 26.231456756591797, 26.728736877441406, 26.394079208374023, 26.368799209594727], "step_mean_ms": 26.501097679138184, "step_p50_ms": 26.381439208984375, "step_p95_ms": 26.91912145614624, "sample_ms": 265.01097679138184, "sample_ms_from_mean": 265.01097679138184, "output_transfer_ms": 0.09000301361083984, "total_ms": 392.1166118234396, "control_frequency_hz": 2.5502617584849356, "prefill_share": 0.2817785427172489, "sample_share": 0.6758473596897999, "other_share": 0.013350014326464293, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.026281863451004, "prefix_embed_ms": 51.95161437988281, "prefill_forward_ms": 59.291648864746094, "prefill_ms": 111.2432632446289, "step_ms": [27.565919876098633, 26.814048767089844, 27.168256759643555, 26.98543930053711, 26.608287811279297, 26.46460723876953, 26.53811264038086, 26.45996856689453, 26.390783309936523, 26.376575469970703], "step_mean_ms": 26.737199974060058, "step_p50_ms": 26.573200225830078, "step_p95_ms": 27.386971473693848, "sample_ms": 267.3719997406006, "sample_ms_from_mean": 267.3719997406006, "output_transfer_ms": 0.07034279406070709, "total_ms": 394.9116747826338, "control_frequency_hz": 2.5322117928025736, "prefill_share": 0.2816915030578904, "sample_share": 0.6770425308083554, "other_share": 0.013166962315699152, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.968521237373352, "prefix_embed_ms": 49.84070587158203, "prefill_forward_ms": 59.25068664550781, "prefill_ms": 109.09139251708984, "step_ms": [26.965280532836914, 26.89321517944336, 27.844736099243164, 27.07993507385254, 26.70867156982422, 26.535263061523438, 27.169599533081055, 27.949024200439453, 27.50054359436035, 26.429344177246094], "step_mean_ms": 27.107561302185058, "step_p50_ms": 27.022607803344727, "step_p95_ms": 27.902094554901122, "sample_ms": 271.0756130218506, "sample_ms_from_mean": 271.0756130218506, "output_transfer_ms": 0.06956793367862701, "total_ms": 396.2894007563591, "control_frequency_hz": 2.5234083931879003, "prefill_share": 0.2752821355021802, "sample_share": 0.684034477087893, "other_share": 0.012829780550937699, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.370183899998665, "prefix_embed_ms": 51.84022521972656, "prefill_forward_ms": 59.45753479003906, "prefill_ms": 111.29776000976562, "step_ms": [26.965791702270508, 26.257823944091797, 26.292192459106445, 26.199039459228516, 27.51728057861328, 26.456544876098633, 26.54035186767578, 26.36899185180664, 26.455808639526367, 26.41119956970215], "step_mean_ms": 26.54650249481201, "step_p50_ms": 26.433504104614258, "step_p95_ms": 27.269110584259032, "sample_ms": 265.4650249481201, "sample_ms_from_mean": 265.4650249481201, "output_transfer_ms": 0.10664574801921844, "total_ms": 393.67535524070263, "control_frequency_hz": 2.5401640887288357, "prefill_share": 0.28271457313276693, "sample_share": 0.6743247231867191, "other_share": 0.013807673156160513, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.037815526127815, "prefix_embed_ms": 54.50892639160156, "prefill_forward_ms": 59.46265411376953, "prefill_ms": 113.9715805053711, "step_ms": [27.373920440673828, 26.80054473876953, 26.605152130126953, 26.390432357788086, 26.99283218383789, 26.788896560668945, 26.7271671295166, 27.4051513671875, 26.881088256835938, 28.80816078186035], "step_mean_ms": 27.077334594726562, "step_p50_ms": 26.840816497802734, "step_p95_ms": 28.176806545257566, "sample_ms": 270.7733459472656, "sample_ms_from_mean": 270.7733459472656, "output_transfer_ms": 0.07334724068641663, "total_ms": 402.2942893207073, "control_frequency_hz": 2.485742468998371, "prefill_share": 0.28330399792106775, "sample_share": 0.6730728054939061, "other_share": 0.013517964946604202, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.570176273584366, "prefix_embed_ms": 50.815521240234375, "prefill_forward_ms": 59.33260726928711, "prefill_ms": 110.14812850952148, "step_ms": [27.485919952392578, 27.07619285583496, 27.357023239135742, 26.31996726989746, 26.670944213867188, 26.849536895751953, 26.716896057128906, 26.437023162841797, 26.70262336730957, 27.482528686523438], "step_mean_ms": 26.90986557006836, "step_p50_ms": 26.78321647644043, "step_p95_ms": 27.484393882751466, "sample_ms": 269.0986557006836, "sample_ms_from_mean": 269.0986557006836, "output_transfer_ms": 0.07976777851581573, "total_ms": 397.2277697175741, "control_frequency_hz": 2.5174473595111246, "prefill_share": 0.27729211527138686, "sample_share": 0.6774417002416792, "other_share": 0.013420616235010934, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.937083676457405, "prefix_embed_ms": 51.2993278503418, "prefill_forward_ms": 59.279361724853516, "prefill_ms": 110.57868957519531, "step_ms": [27.749727249145508, 27.287263870239258, 26.994176864624023, 26.9649600982666, 27.013343811035156, 26.909568786621094, 27.073055267333984, 26.969087600708008, 26.780672073364258, 26.979839324951172], "step_mean_ms": 27.072169494628906, "step_p50_ms": 26.987008094787598, "step_p95_ms": 27.541618728637694, "sample_ms": 270.72169494628906, "sample_ms_from_mean": 270.72169494628906, "output_transfer_ms": 0.07306784391403198, "total_ms": 398.83376099169254, "control_frequency_hz": 2.507310307716977, "prefill_share": 0.2772550881857231, "sample_share": 0.6787832962614417, "other_share": 0.013848438848565221, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.475827544927597, "prefix_embed_ms": 51.49785614013672, "prefill_forward_ms": 59.37254333496094, "prefill_ms": 110.87039947509766, "step_ms": [27.81667137145996, 26.70400047302246, 26.694751739501953, 26.940799713134766, 27.00886344909668, 27.994752883911133, 28.202272415161133, 26.82624053955078, 26.89904022216797, 26.838687896728516], "step_mean_ms": 27.192608070373534, "step_p50_ms": 26.919919967651367, "step_p95_ms": 28.108888626098633, "sample_ms": 271.92608070373535, "sample_ms_from_mean": 271.92608070373535, "output_transfer_ms": 0.07407553493976593, "total_ms": 399.6759932488203, "control_frequency_hz": 2.5020266838429923, "prefill_share": 0.2774006979350264, "sample_share": 0.6803663099535888, "other_share": 0.013334826409756261, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.502383276820183, "prefix_embed_ms": 51.5846061706543, "prefill_forward_ms": 59.34080123901367, "prefill_ms": 110.92540740966797, "step_ms": [27.56982421875, 27.312223434448242, 27.7957763671875, 27.692928314208984, 27.79043197631836, 27.800479888916016, 27.26585578918457, 27.030879974365234, 26.934879302978516, 28.487871170043945], "step_mean_ms": 27.568115043640137, "step_p50_ms": 27.631376266479492, "step_p95_ms": 28.178545093536375, "sample_ms": 275.68115043640137, "sample_ms_from_mean": 275.68115043640137, "output_transfer_ms": 0.0748317688703537, "total_ms": 404.4213108718395, "control_frequency_hz": 2.4726689052172586, "prefill_share": 0.2742818057004421, "sample_share": 0.6816682084386109, "other_share": 0.01542336620845462, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.026648968458176, "prefix_embed_ms": 51.86003112792969, "prefill_forward_ms": 59.35308837890625, "prefill_ms": 111.21311950683594, "step_ms": [28.08483123779297, 28.280288696289062, 28.87766456604004, 28.059040069580078, 27.99884796142578, 28.029600143432617, 27.2260799407959, 28.356351852416992, 27.31827163696289, 26.985279083251953], "step_mean_ms": 27.921625518798827, "step_p50_ms": 28.044320106506348, "step_p95_ms": 28.64307384490967, "sample_ms": 279.2162551879883, "sample_ms_from_mean": 279.2162551879883, "output_transfer_ms": 0.09442679584026337, "total_ms": 408.4440693259239, "control_frequency_hz": 2.448315632665082, "prefill_share": 0.2722848190460364, "sample_share": 0.6836095224709545, "other_share": 0.014429439204559394, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.696364894509315, "prefix_embed_ms": 52.303104400634766, "prefill_forward_ms": 59.498497009277344, "prefill_ms": 111.80160140991211, "step_ms": [27.986976623535156, 27.97977638244629, 27.51532745361328, 27.244224548339844, 27.280736923217773, 27.16649627685547, 27.829792022705078, 28.621984481811523, 27.212127685546875, 27.44780731201172], "step_mean_ms": 27.6285249710083, "step_p50_ms": 27.4815673828125, "step_p95_ms": 28.336230945587157, "sample_ms": 276.285249710083, "sample_ms_from_mean": 276.285249710083, "output_transfer_ms": 0.08518621325492859, "total_ms": 406.73271007835865, "control_frequency_hz": 2.458617109519778, "prefill_share": 0.27487733009812043, "sample_share": 0.6792796420451543, "other_share": 0.014418087616974565, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.48553954064846, "prefix_embed_ms": 53.418304443359375, "prefill_forward_ms": 59.40633773803711, "prefill_ms": 112.82464218139648, "step_ms": [27.976383209228516, 27.56812858581543, 26.707456588745117, 27.09235191345215, 26.961151123046875, 27.17344093322754, 26.91753578186035, 26.433887481689453, 27.418880462646484, 26.425823211669922], "step_mean_ms": 27.067503929138184, "step_p50_ms": 27.02675151824951, "step_p95_ms": 27.792668628692628, "sample_ms": 270.67503929138184, "sample_ms_from_mean": 270.67503929138184, "output_transfer_ms": 0.07539056241512299, "total_ms": 401.41609124839306, "control_frequency_hz": 2.4911806522006312, "prefill_share": 0.28106656569375416, "sample_share": 0.6743004209163361, "other_share": 0.01334146734351321, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 663, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.758891865611076, "prefix_embed_ms": 53.576927185058594, "prefill_forward_ms": 59.661312103271484, "prefill_ms": 113.23823928833008, "step_ms": [27.55401611328125, 27.077472686767578, 26.756927490234375, 26.637855529785156, 27.35590362548828, 26.76367950439453, 26.676639556884766, 26.501535415649414, 26.792287826538086, 26.924928665161133], "step_mean_ms": 26.904124641418456, "step_p50_ms": 26.77798366546631, "step_p95_ms": 27.464865493774415, "sample_ms": 269.04124641418457, "sample_ms_from_mean": 269.04124641418457, "output_transfer_ms": 0.07903575897216797, "total_ms": 399.42936785519123, "control_frequency_hz": 2.503571546002444, "prefill_share": 0.2835000338016792, "sample_share": 0.6735640092235845, "other_share": 0.013298858210193321, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.94514487683773, "prefix_embed_ms": 51.10224151611328, "prefill_forward_ms": 59.28755187988281, "prefill_ms": 110.3897933959961, "step_ms": [26.963232040405273, 26.937759399414062, 27.06671905517578, 27.144960403442383, 27.111040115356445, 27.090240478515625, 26.697568893432617, 26.650367736816406, 26.335296630859375, 26.919904708862305], "step_mean_ms": 26.89170894622803, "step_p50_ms": 26.950495719909668, "step_p95_ms": 27.12969627380371, "sample_ms": 268.9170894622803, "sample_ms_from_mean": 268.9170894622803, "output_transfer_ms": 0.08257292211055756, "total_ms": 395.28817869722843, "control_frequency_hz": 2.529799912802228, "prefill_share": 0.27926408970744687, "sample_share": 0.6803064294727056, "other_share": 0.015061361206462813, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.856367483735085, "prefix_embed_ms": 50.336097717285156, "prefill_forward_ms": 59.33772659301758, "prefill_ms": 109.67382431030273, "step_ms": [26.98624038696289, 26.427967071533203, 26.459135055541992, 26.281312942504883, 26.369951248168945, 26.445119857788086, 26.812864303588867, 26.54457664489746, 26.595584869384766, 26.897727966308594], "step_mean_ms": 26.58204803466797, "step_p50_ms": 26.501855850219727, "step_p95_ms": 26.94640979766846, "sample_ms": 265.8204803466797, "sample_ms_from_mean": 265.8204803466797, "output_transfer_ms": 0.08375756442546844, "total_ms": 390.6239662319422, "control_frequency_hz": 2.5600067749202733, "prefill_share": 0.28076573326579074, "sample_share": 0.6805022306000613, "other_share": 0.013285248667302182, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.102881118655205, "prefix_embed_ms": 51.45564651489258, "prefill_forward_ms": 59.22099304199219, "prefill_ms": 110.67663955688477, "step_ms": [27.012704849243164, 26.310144424438477, 26.829631805419922, 26.573951721191406, 26.47327995300293, 26.164064407348633, 26.282848358154297, 26.426912307739258, 26.502016067504883, 26.38310432434082], "step_mean_ms": 26.49586582183838, "step_p50_ms": 26.450096130371094, "step_p95_ms": 26.930321979522706, "sample_ms": 264.9586582183838, "sample_ms_from_mean": 264.9586582183838, "output_transfer_ms": 0.08046813309192657, "total_ms": 391.02817699313164, "control_frequency_hz": 2.557360463610695, "prefill_share": 0.2830400622480686, "sample_share": 0.6775947970190336, "other_share": 0.013322645969340097, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.03183051943779, "prefix_embed_ms": 50.95094299316406, "prefill_forward_ms": 59.49747085571289, "prefill_ms": 110.44841384887695, "step_ms": [27.43302345275879, 27.084672927856445, 26.5849609375, 26.80182456970215, 26.771615982055664, 26.786272048950195, 26.745567321777344, 26.716575622558594, 26.285472869873047, 27.053056716918945], "step_mean_ms": 26.826304244995118, "step_p50_ms": 26.77894401550293, "step_p95_ms": 27.276265716552732, "sample_ms": 268.2630424499512, "sample_ms_from_mean": 268.2630424499512, "output_transfer_ms": 0.07221288979053497, "total_ms": 393.99829879403114, "control_frequency_hz": 2.538082024873833, "prefill_share": 0.2803271338656607, "sample_share": 0.6808736059801871, "other_share": 0.0131543691986449, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.302644222974777, "prefix_embed_ms": 51.35590362548828, "prefill_forward_ms": 59.23020935058594, "prefill_ms": 110.58611297607422, "step_ms": [27.965856552124023, 27.68560028076172, 26.91766357421875, 27.34604835510254, 27.097503662109375, 26.83014488220215, 27.226207733154297, 27.90355110168457, 28.748863220214844, 26.50604820251465], "step_mean_ms": 27.42274875640869, "step_p50_ms": 27.286128044128418, "step_p95_ms": 28.396510219573972, "sample_ms": 274.2274875640869, "sample_ms_from_mean": 274.2274875640869, "output_transfer_ms": 0.0708121806383133, "total_ms": 400.46704187989235, "control_frequency_hz": 2.4970843925276602, "prefill_share": 0.2761428567428555, "sample_share": 0.6847691791983544, "other_share": 0.013184567976761727, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.09628176689148, "prefix_embed_ms": 51.890785217285156, "prefill_forward_ms": 59.222015380859375, "prefill_ms": 111.11280059814453, "step_ms": [28.874528884887695, 26.73539161682129, 26.61574363708496, 27.827455520629883, 27.43494415283203, 26.926944732666016, 26.840160369873047, 26.851455688476562, 26.640544891357422, 26.764352798461914], "step_mean_ms": 27.151152229309083, "step_p50_ms": 26.845808029174805, "step_p95_ms": 28.403345870971677, "sample_ms": 271.5115222930908, "sample_ms_from_mean": 271.5115222930908, "output_transfer_ms": 0.0777263194322586, "total_ms": 398.37347716093063, "control_frequency_hz": 2.5102072736534886, "prefill_share": 0.2789161602574721, "sample_share": 0.6815501981408479, "other_share": 0.013994772501180735, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.461367666721344, "prefix_embed_ms": 51.4370231628418, "prefill_forward_ms": 59.38175964355469, "prefill_ms": 110.81878280639648, "step_ms": [26.77916717529297, 26.434656143188477, 26.753408432006836, 26.610015869140625, 26.390592575073242, 27.01763153076172, 28.40787124633789, 26.434240341186523, 26.486560821533203, 26.99718475341797], "step_mean_ms": 26.831132888793945, "step_p50_ms": 26.68171215057373, "step_p95_ms": 27.78226337432861, "sample_ms": 268.31132888793945, "sample_ms_from_mean": 268.31132888793945, "output_transfer_ms": 0.08285604417324066, "total_ms": 395.05271427333355, "control_frequency_hz": 2.531307756838012, "prefill_share": 0.28051644452117835, "sample_share": 0.6791785480615561, "other_share": 0.01361433214804284, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.59744879603386, "prefix_embed_ms": 50.57283020019531, "prefill_forward_ms": 59.26911926269531, "prefill_ms": 109.84194946289062, "step_ms": [27.155487060546875, 27.055072784423828, 26.775968551635742, 26.384000778198242, 26.42051124572754, 26.521024703979492, 26.167648315429688, 26.3176326751709, 26.78668785095215, 26.537952423095703], "step_mean_ms": 26.612198638916016, "step_p50_ms": 26.529488563537598, "step_p95_ms": 27.110300636291505, "sample_ms": 266.12198638916016, "sample_ms_from_mean": 266.12198638916016, "output_transfer_ms": 0.08100830018520355, "total_ms": 391.9456694275141, "control_frequency_hz": 2.551374024518821, "prefill_share": 0.2802478966621282, "sample_share": 0.6789767234266545, "other_share": 0.01353064185398536, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.988758713006973, "prefix_embed_ms": 50.382015228271484, "prefill_forward_ms": 59.254783630371094, "prefill_ms": 109.63679885864258, "step_ms": [27.548128128051758, 26.56345558166504, 26.284191131591797, 26.694303512573242, 26.589536666870117, 27.853248596191406, 27.14080047607422, 26.746015548706055, 26.281503677368164, 26.00876808166504], "step_mean_ms": 26.770995140075684, "step_p50_ms": 26.64192008972168, "step_p95_ms": 27.715944385528566, "sample_ms": 267.70995140075684, "sample_ms_from_mean": 267.70995140075684, "output_transfer_ms": 0.07619522511959076, "total_ms": 392.6028907299042, "control_frequency_hz": 2.547102997995911, "prefill_share": 0.2792562190635232, "sample_share": 0.6818848198062074, "other_share": 0.013222486779776502, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.771395474672318, "prefix_embed_ms": 50.146846771240234, "prefill_forward_ms": 59.231231689453125, "prefill_ms": 109.37807846069336, "step_ms": [26.744800567626953, 26.291135787963867, 26.457632064819336, 26.4583683013916, 28.16409683227539, 26.739551544189453, 26.671039581298828, 27.118560791015625, 26.680511474609375, 26.664608001708984], "step_mean_ms": 26.79903049468994, "step_p50_ms": 26.6757755279541, "step_p95_ms": 27.693605613708495, "sample_ms": 267.9903049468994, "sample_ms_from_mean": 267.9903049468994, "output_transfer_ms": 0.0788755714893341, "total_ms": 392.4252763390541, "control_frequency_hz": 2.548255834407576, "prefill_share": 0.2787233265937515, "sample_share": 0.682907858145602, "other_share": 0.01326780459676909, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.583795443177223, "prefix_embed_ms": 50.40854263305664, "prefill_forward_ms": 59.02131271362305, "prefill_ms": 109.42985534667969, "step_ms": [27.237503051757812, 26.660736083984375, 26.438175201416016, 26.251680374145508, 26.505184173583984, 26.734111785888672, 26.479583740234375, 27.478879928588867, 26.51148796081543, 26.634336471557617], "step_mean_ms": 26.693167877197265, "step_p50_ms": 26.572912216186523, "step_p95_ms": 27.370260334014894, "sample_ms": 266.93167877197266, "sample_ms_from_mean": 266.93167877197266, "output_transfer_ms": 0.07879547774791718, "total_ms": 391.234016045928, "control_frequency_hz": 2.5560149654333926, "prefill_share": 0.27970434793132465, "sample_share": 0.6822813656894211, "other_share": 0.01331655938050876, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.051004588603973, "prefix_embed_ms": 52.10038375854492, "prefill_forward_ms": 59.028480529785156, "prefill_ms": 111.12886428833008, "step_ms": [27.694719314575195, 26.71228790283203, 27.10063934326172, 26.535263061523438, 28.56924819946289, 28.433120727539062, 27.646944046020508, 27.43734359741211, 26.814367294311523, 26.66966438293457], "step_mean_ms": 27.361359786987304, "step_p50_ms": 27.268991470336914, "step_p95_ms": 28.507990837097168, "sample_ms": 273.61359786987305, "sample_ms_from_mean": 273.61359786987305, "output_transfer_ms": 0.0774729996919632, "total_ms": 400.2071004360914, "control_frequency_hz": 2.498706292093108, "prefill_share": 0.2776783924304114, "sample_share": 0.6836800185996852, "other_share": 0.013333498290704331, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.122513398528099, "prefix_embed_ms": 52.69404983520508, "prefill_forward_ms": 57.86726379394531, "prefill_ms": 110.56131362915039, "step_ms": [27.77132797241211, 27.284320831298828, 28.099231719970703, 27.112703323364258, 27.052000045776367, 27.813663482666016, 26.55523109436035, 26.661056518554688, 27.216127395629883, 27.381471633911133], "step_mean_ms": 27.294713401794432, "step_p50_ms": 27.250224113464355, "step_p95_ms": 27.970726013183594, "sample_ms": 272.94713401794434, "sample_ms_from_mean": 272.94713401794434, "output_transfer_ms": 0.07294677197933197, "total_ms": 398.8761678338051, "control_frequency_hz": 2.5070437409954707, "prefill_share": 0.27718204933019874, "sample_share": 0.6842904039623393, "other_share": 0.01296708210042268, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.671445935964584, "prefix_embed_ms": 51.410560607910156, "prefill_forward_ms": 57.67679977416992, "prefill_ms": 109.08736038208008, "step_ms": [27.094112396240234, 27.346111297607422, 26.97100830078125, 26.951936721801758, 27.129119873046875, 27.52569580078125, 27.455583572387695, 27.663360595703125, 28.146207809448242, 26.703872680664062], "step_mean_ms": 27.298700904846193, "step_p50_ms": 27.23761558532715, "step_p95_ms": 27.928926563262937, "sample_ms": 272.9870090484619, "sample_ms_from_mean": 272.9870090484619, "output_transfer_ms": 0.0761374831199646, "total_ms": 397.1505928784609, "control_frequency_hz": 2.5179365659565507, "prefill_share": 0.2746750535897194, "sample_share": 0.6873639721142341, "other_share": 0.013417177575421761, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.155608877539635, "prefix_embed_ms": 51.951168060302734, "prefill_forward_ms": 57.54982376098633, "prefill_ms": 109.50099182128906, "step_ms": [29.381311416625977, 28.31808090209961, 28.159008026123047, 27.925151824951172, 27.197568893432617, 26.985759735107422, 27.925119400024414, 27.501632690429688, 27.338783264160156, 27.255552291870117], "step_mean_ms": 27.79879684448242, "step_p50_ms": 27.71337604522705, "step_p95_ms": 28.90285768508911, "sample_ms": 277.9879684448242, "sample_ms_from_mean": 277.9879684448242, "output_transfer_ms": 0.0774729996919632, "total_ms": 403.25344167649746, "control_frequency_hz": 2.479830043960868, "prefill_share": 0.2715438493619459, "sample_share": 0.6893629160091208, "other_share": 0.013716930747462887, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.806137695908546, "prefix_embed_ms": 54.253089904785156, "prefill_forward_ms": 57.631744384765625, "prefill_ms": 111.88483428955078, "step_ms": [28.232032775878906, 26.850751876831055, 26.715808868408203, 26.87696075439453, 27.369600296020508, 27.379552841186523, 26.839008331298828, 26.821151733398438, 27.22153663635254, 27.065664291381836], "step_mean_ms": 27.137206840515137, "step_p50_ms": 26.971312522888184, "step_p95_ms": 27.848416805267334, "sample_ms": 271.37206840515137, "sample_ms_from_mean": 271.37206840515137, "output_transfer_ms": 0.08211657404899597, "total_ms": 399.56643246114254, "control_frequency_hz": 2.5027127375051683, "prefill_share": 0.28001559991011377, "sample_share": 0.6791663322006962, "other_share": 0.013567895238572282, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.70687547326088, "prefix_embed_ms": 52.613311767578125, "prefill_forward_ms": 57.585662841796875, "prefill_ms": 110.198974609375, "step_ms": [27.571552276611328, 26.882944107055664, 26.671775817871094, 27.28447914123535, 27.71513557434082, 27.103904724121094, 27.49648094177246, 27.07756805419922, 29.707103729248047, 27.741920471191406], "step_mean_ms": 27.52528648376465, "step_p50_ms": 27.390480041503906, "step_p95_ms": 28.822771263122558, "sample_ms": 275.2528648376465, "sample_ms_from_mean": 275.2528648376465, "output_transfer_ms": 0.06967224180698395, "total_ms": 401.6694240272045, "control_frequency_hz": 2.4896094653504703, "prefill_share": 0.27435241025941615, "sample_share": 0.6852721376646383, "other_share": 0.013546056880711567, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.420534759759903, "prefix_embed_ms": 51.27302551269531, "prefill_forward_ms": 59.2916145324707, "prefill_ms": 110.56464004516602, "step_ms": [27.721120834350586, 26.720767974853516, 26.981311798095703, 27.041183471679688, 26.599327087402344, 27.133760452270508, 27.732351303100586, 27.26198387145996, 26.275392532348633, 26.279071807861328], "step_mean_ms": 26.974627113342287, "step_p50_ms": 27.011247634887695, "step_p95_ms": 27.727297592163087, "sample_ms": 269.74627113342285, "sample_ms_from_mean": 269.74627113342285, "output_transfer_ms": 0.06922893226146698, "total_ms": 396.05536311864853, "control_frequency_hz": 2.5248995295145753, "prefill_share": 0.27916460763098805, "sample_share": 0.6810822330730905, "other_share": 0.013267559885217653, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.847298264503479, "prefix_embed_ms": 50.89990234375, "prefill_forward_ms": 59.36742401123047, "prefill_ms": 110.26732635498047, "step_ms": [26.9453125, 26.397632598876953, 26.31769561767578, 26.45814323425293, 26.808448791503906, 26.788991928100586, 26.18729591369629, 26.24799919128418, 26.50649642944336, 26.325408935546875], "step_mean_ms": 26.498342514038086, "step_p50_ms": 26.42788791656494, "step_p95_ms": 26.88372383117676, "sample_ms": 264.98342514038086, "sample_ms_from_mean": 264.98342514038086, "output_transfer_ms": 0.06891973316669464, "total_ms": 390.31822234392166, "control_frequency_hz": 2.562012078234125, "prefill_share": 0.282506221956044, "sample_share": 0.6788907357415038, "other_share": 0.013197572022018558, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.722055867314339, "prefix_embed_ms": 51.528831481933594, "prefill_forward_ms": 57.60307312011719, "prefill_ms": 109.13190460205078, "step_ms": [28.158720016479492, 26.891136169433594, 26.683839797973633, 27.66486358642578, 27.908447265625, 26.913375854492188, 26.43631935119629, 27.89676856994629, 27.628543853759766, 27.195615768432617], "step_mean_ms": 27.337763023376464, "step_p50_ms": 27.41207981109619, "step_p95_ms": 28.04609727859497, "sample_ms": 273.37763023376465, "sample_ms_from_mean": 273.37763023376465, "output_transfer_ms": 0.07644481956958771, "total_ms": 398.2185088098049, "control_frequency_hz": 2.511184131015906, "prefill_share": 0.2740503070242117, "sample_share": 0.6865015668177641, "other_share": 0.014842286725372904, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.03188081085682, "prefix_embed_ms": 51.798465728759766, "prefill_forward_ms": 57.22419357299805, "prefill_ms": 109.02265930175781, "step_ms": [27.41654396057129, 27.540096282958984, 27.103647232055664, 26.722591400146484, 26.88252830505371, 27.226240158081055, 27.350624084472656, 27.801055908203125, 26.949535369873047, 27.322975158691406], "step_mean_ms": 27.23158378601074, "step_p50_ms": 27.27460765838623, "step_p95_ms": 27.683624076843262, "sample_ms": 272.3158378601074, "sample_ms_from_mean": 272.3158378601074, "output_transfer_ms": 0.07563456892967224, "total_ms": 396.7738691717386, "control_frequency_hz": 2.520327263706881, "prefill_share": 0.2747727806000468, "sample_share": 0.6863250304980112, "other_share": 0.013427942321929478, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.822087362408638, "prefix_embed_ms": 51.94512176513672, "prefill_forward_ms": 57.229312896728516, "prefill_ms": 109.17443466186523, "step_ms": [27.90550422668457, 28.15532875061035, 27.28441619873047, 27.061824798583984, 27.11903953552246, 27.451936721801758, 26.503711700439453, 27.21824073791504, 27.408960342407227, 26.906240463256836], "step_mean_ms": 27.301520347595215, "step_p50_ms": 27.251328468322754, "step_p95_ms": 28.04290771484375, "sample_ms": 273.01520347595215, "sample_ms_from_mean": 273.01520347595215, "output_transfer_ms": 0.07102824747562408, "total_ms": 397.20781333744526, "control_frequency_hz": 2.517573840246835, "prefill_share": 0.2748547007284492, "sample_share": 0.6873359342607238, "other_share": 0.0129027159528447, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.698210284113884, "prefix_embed_ms": 51.73164749145508, "prefill_forward_ms": 57.222145080566406, "prefill_ms": 108.95379257202148, "step_ms": [27.731008529663086, 28.1309757232666, 27.37811279296875, 27.368383407592773, 27.03868865966797, 26.96953582763672, 27.23004722595215, 26.921600341796875, 27.879615783691406, 27.149791717529297], "step_mean_ms": 27.379776000976562, "step_p50_ms": 27.29921531677246, "step_p95_ms": 28.017863750457764, "sample_ms": 273.7977600097656, "sample_ms_from_mean": 273.7977600097656, "output_transfer_ms": 0.07712282240390778, "total_ms": 397.7686297148466, "control_frequency_hz": 2.514024297785581, "prefill_share": 0.27391248186195216, "sample_share": 0.688334221343816, "other_share": 0.013177871845498285, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.296979919075966, "prefix_embed_ms": 52.54633712768555, "prefill_forward_ms": 57.36140823364258, "prefill_ms": 109.90774536132812, "step_ms": [27.768064498901367, 28.1231689453125, 28.95110321044922, 28.064287185668945, 27.503135681152344, 27.3437442779541, 27.025760650634766, 28.03875160217285, 27.100576400756836, 27.52467155456543], "step_mean_ms": 27.744326400756837, "step_p50_ms": 27.6463680267334, "step_p95_ms": 28.578532791137693, "sample_ms": 277.44326400756836, "sample_ms_from_mean": 277.44326400756836, "output_transfer_ms": 0.07209554314613342, "total_ms": 402.8985798358917, "control_frequency_hz": 2.4820142091523856, "prefill_share": 0.2727925856827186, "sample_share": 0.6886181235004013, "other_share": 0.012853098183871583, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.93582047522068, "prefix_embed_ms": 52.26572799682617, "prefill_forward_ms": 59.256832122802734, "prefill_ms": 111.5225601196289, "step_ms": [28.387903213500977, 27.0882568359375, 27.528736114501953, 27.185152053833008, 28.94748878479004, 28.43075180053711, 28.889535903930664, 28.763328552246094, 27.571487426757812, 26.44915199279785], "step_mean_ms": 27.9241792678833, "step_p50_ms": 27.979695320129395, "step_p95_ms": 28.92140998840332, "sample_ms": 279.241792678833, "sample_ms_from_mean": 279.241792678833, "output_transfer_ms": 0.07274560630321503, "total_ms": 406.67807310819626, "control_frequency_hz": 2.4589474233442408, "prefill_share": 0.27422811185091467, "sample_share": 0.6866408865976431, "other_share": 0.014520463773908433, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.839287027716637, "prefix_embed_ms": 50.667518615722656, "prefill_forward_ms": 58.48371124267578, "prefill_ms": 109.15122985839844, "step_ms": [26.78540802001953, 26.184383392333984, 26.35753631591797, 26.180736541748047, 26.247615814208984, 26.08448028564453, 27.42508888244629, 26.585792541503906, 26.36582374572754, 26.671167373657227], "step_mean_ms": 26.4888032913208, "step_p50_ms": 26.361680030822754, "step_p95_ms": 27.137232494354247, "sample_ms": 264.888032913208, "sample_ms_from_mean": 264.888032913208, "output_transfer_ms": 0.07704459130764008, "total_ms": 389.2612159252167, "control_frequency_hz": 2.5689690086980463, "prefill_share": 0.28040612676750243, "sample_share": 0.6804891473290194, "other_share": 0.013629977294232282, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.546455159783363, "prefix_embed_ms": 49.874656677246094, "prefill_forward_ms": 57.55596923828125, "prefill_ms": 107.43062591552734, "step_ms": [26.781152725219727, 27.221376419067383, 26.4237117767334, 26.33203125, 26.34547233581543, 26.453439712524414, 26.234655380249023, 26.19286346435547, 26.297439575195312, 26.28246307373047], "step_mean_ms": 26.456460571289064, "step_p50_ms": 26.338751792907715, "step_p95_ms": 27.023275756835936, "sample_ms": 264.5646057128906, "sample_ms_from_mean": 264.5646057128906, "output_transfer_ms": 0.07415749132633209, "total_ms": 387.687835842371, "control_frequency_hz": 2.5793948314813453, "prefill_share": 0.2771060012293171, "sample_share": 0.6824165765687301, "other_share": 0.013082668822515058, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.401412844657898, "prefix_embed_ms": 51.335872650146484, "prefill_forward_ms": 57.245697021484375, "prefill_ms": 108.58156967163086, "step_ms": [27.079103469848633, 26.28758430480957, 26.378559112548828, 26.259519577026367, 26.406911849975586, 26.571744918823242, 26.756256103515625, 26.43926429748535, 26.85590362548828, 27.153440475463867], "step_mean_ms": 26.618828773498535, "step_p50_ms": 26.505504608154297, "step_p95_ms": 27.11998882293701, "sample_ms": 266.18828773498535, "sample_ms_from_mean": 266.18828773498535, "output_transfer_ms": 0.07691793143749237, "total_ms": 390.37885144352913, "control_frequency_hz": 2.5616141763372564, "prefill_share": 0.2781440881598011, "sample_share": 0.6818716914368791, "other_share": 0.013142779742922913, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.127179324626923, "prefix_embed_ms": 50.97248077392578, "prefill_forward_ms": 57.28665542602539, "prefill_ms": 108.25913619995117, "step_ms": [27.90540885925293, 27.943552017211914, 26.88096046447754, 27.116863250732422, 26.844032287597656, 26.980703353881836, 26.790752410888672, 26.4355525970459, 27.27724838256836, 27.163040161132812], "step_mean_ms": 27.133811378479002, "step_p50_ms": 27.04878330230713, "step_p95_ms": 27.926387596130372, "sample_ms": 271.33811378479004, "sample_ms_from_mean": 271.33811378479004, "output_transfer_ms": 0.07058680057525635, "total_ms": 394.94806341826916, "control_frequency_hz": 2.5319784868547424, "prefill_share": 0.27410980386375383, "sample_share": 0.6870222667668326, "other_share": 0.01304740492642558, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.294223204255104, "prefix_embed_ms": 53.0153923034668, "prefill_forward_ms": 57.26617431640625, "prefill_ms": 110.28156661987305, "step_ms": [28.936832427978516, 28.455392837524414, 27.86310386657715, 27.531776428222656, 27.53273582458496, 27.356639862060547, 27.828128814697266, 27.495744705200195, 26.901599884033203, 26.41222381591797], "step_mean_ms": 27.63141784667969, "step_p50_ms": 27.53225612640381, "step_p95_ms": 28.72018461227417, "sample_ms": 276.3141784667969, "sample_ms_from_mean": 276.3141784667969, "output_transfer_ms": 0.07775798439979553, "total_ms": 402.1911881864071, "control_frequency_hz": 2.48637968551544, "prefill_share": 0.27420184693047, "sample_share": 0.6870219601597316, "other_share": 0.012987509583778608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.248234495520592, "prefix_embed_ms": 51.13679885864258, "prefill_forward_ms": 57.042945861816406, "prefill_ms": 108.17974472045898, "step_ms": [29.8558406829834, 27.410688400268555, 27.552448272705078, 27.643104553222656, 27.357919692993164, 27.287168502807617, 27.32918357849121, 26.977344512939453, 26.833120346069336, 27.35366439819336], "step_mean_ms": 27.560048294067382, "step_p50_ms": 27.35579204559326, "step_p95_ms": 28.860109424591062, "sample_ms": 275.6004829406738, "sample_ms_from_mean": 275.6004829406738, "output_transfer_ms": 0.07378682494163513, "total_ms": 399.4927443563938, "control_frequency_hz": 2.5031743733194918, "prefill_share": 0.2707927646964975, "sample_share": 0.6898760661715705, "other_share": 0.013493349881693541, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.074280202388763, "prefix_embed_ms": 51.411006927490234, "prefill_forward_ms": 56.97945785522461, "prefill_ms": 108.39046478271484, "step_ms": [26.713760375976562, 26.46883201599121, 26.55526351928711, 26.25071907043457, 26.577600479125977, 26.218368530273438, 26.18511962890625, 26.29747200012207, 26.29203224182129, 26.960607528686523], "step_mean_ms": 26.4519775390625, "step_p50_ms": 26.38315200805664, "step_p95_ms": 26.84952630996704, "sample_ms": 264.519775390625, "sample_ms_from_mean": 264.519775390625, "output_transfer_ms": 0.08005276322364807, "total_ms": 388.23848217725754, "control_frequency_hz": 2.5757364246634142, "prefill_share": 0.27918526822703565, "sample_share": 0.6813332205174178, "other_share": 0.013326625967858172, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.118497535586357, "prefix_embed_ms": 50.520320892333984, "prefill_forward_ms": 56.397823333740234, "prefill_ms": 106.91814422607422, "step_ms": [26.73094367980957, 26.206239700317383, 26.41587257385254, 26.425952911376953, 27.30950355529785, 27.329023361206055, 26.515647888183594, 26.72118377685547, 26.626176834106445, 26.53171157836914], "step_mean_ms": 26.6812255859375, "step_p50_ms": 26.578944206237793, "step_p95_ms": 27.320239448547362, "sample_ms": 266.812255859375, "sample_ms_from_mean": 266.812255859375, "output_transfer_ms": 0.08593685925006866, "total_ms": 389.26008716225624, "control_frequency_hz": 2.5689764581056767, "prefill_share": 0.274670195461132, "sample_share": 0.6854344040368028, "other_share": 0.013680448773446577, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.426811873912811, "prefix_embed_ms": 51.30806350708008, "prefill_forward_ms": 56.429569244384766, "prefill_ms": 107.73763275146484, "step_ms": [27.287872314453125, 26.693023681640625, 26.562623977661133, 26.41116714477539, 26.649215698242188, 26.39801597595215, 26.264480590820312, 26.36796760559082, 26.161439895629883, 27.62985610961914], "step_mean_ms": 26.642566299438478, "step_p50_ms": 26.48689556121826, "step_p95_ms": 27.475963401794434, "sample_ms": 266.42566299438477, "sample_ms_from_mean": 266.42566299438477, "output_transfer_ms": 0.06842054426670074, "total_ms": 389.96943086385727, "control_frequency_hz": 2.564303560370893, "prefill_share": 0.27627199525051305, "sample_share": 0.6831962761906766, "other_share": 0.013618766701952707, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.585181415081024, "prefix_embed_ms": 50.8699836730957, "prefill_forward_ms": 56.427520751953125, "prefill_ms": 107.29750442504883, "step_ms": [26.82419204711914, 26.212703704833984, 26.453311920166016, 26.487455368041992, 26.61734390258789, 26.415456771850586, 27.10576057434082, 26.466848373413086, 26.38502311706543, 26.360671997070312], "step_mean_ms": 26.532876777648926, "step_p50_ms": 26.46008014678955, "step_p95_ms": 26.979054737091065, "sample_ms": 265.32876777648926, "sample_ms_from_mean": 265.32876777648926, "output_transfer_ms": 0.07329322397708893, "total_ms": 388.54605332016945, "control_frequency_hz": 2.573697484390559, "prefill_share": 0.27615131722013303, "sample_share": 0.6828759821627971, "other_share": 0.01354101125108542, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.09974256157875, "prefix_embed_ms": 49.94825744628906, "prefill_forward_ms": 56.48179244995117, "prefill_ms": 106.43004989624023, "step_ms": [27.00387191772461, 26.36319923400879, 26.457183837890625, 26.595232009887695, 27.056415557861328, 26.644287109375, 26.45097541809082, 26.42937660217285, 26.683359146118164, 26.18729591369629], "step_mean_ms": 26.58711967468262, "step_p50_ms": 26.52620792388916, "step_p95_ms": 27.032770919799805, "sample_ms": 265.8711967468262, "sample_ms_from_mean": 265.8711967468262, "output_transfer_ms": 0.07885508239269257, "total_ms": 387.64670118689537, "control_frequency_hz": 2.5796685408084303, "prefill_share": 0.2745542515140025, "sample_share": 0.6858595621548762, "other_share": 0.013328778199421422, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.034404695034027, "prefix_embed_ms": 50.10969543457031, "prefill_forward_ms": 58.52467346191406, "prefill_ms": 108.63436889648438, "step_ms": [26.635488510131836, 26.888383865356445, 26.372255325317383, 26.855167388916016, 26.811264038085938, 26.431488037109375, 26.567167282104492, 26.79737663269043, 26.16819190979004, 27.918432235717773], "step_mean_ms": 26.74452152252197, "step_p50_ms": 26.716432571411133, "step_p95_ms": 27.454910469055175, "sample_ms": 267.4452152252197, "sample_ms_from_mean": 267.4452152252197, "output_transfer_ms": 0.07798708975315094, "total_ms": 391.44811406731606, "control_frequency_hz": 2.5546169825920613, "prefill_share": 0.2775192036761298, "sample_share": 0.6832200887273353, "other_share": 0.013427419808493176, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.412473231554031, "prefix_embed_ms": 52.04569625854492, "prefill_forward_ms": 59.368446350097656, "prefill_ms": 111.41414260864258, "step_ms": [27.37945556640625, 26.825759887695312, 26.244735717773438, 26.38230323791504, 26.295263290405273, 26.505216598510742, 26.234207153320312, 26.22323226928711, 26.24060821533203, 26.974048614501953], "step_mean_ms": 26.530483055114747, "step_p50_ms": 26.338783264160156, "step_p95_ms": 27.197022438049316, "sample_ms": 265.30483055114746, "sample_ms_from_mean": 265.30483055114746, "output_transfer_ms": 0.07695704698562622, "total_ms": 392.6001042127609, "control_frequency_hz": 2.5471210763053493, "prefill_share": 0.2837853108369634, "sample_share": 0.6757635255424471, "other_share": 0.013733314679685658, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.164378210902214, "prefix_embed_ms": 50.82252883911133, "prefill_forward_ms": 59.32748794555664, "prefill_ms": 110.15001678466797, "step_ms": [27.130464553833008, 26.27459144592285, 26.768800735473633, 26.587135314941406, 26.9006404876709, 26.63088035583496, 26.737567901611328, 26.89561653137207, 26.384063720703125, 26.155935287475586], "step_mean_ms": 26.646569633483885, "step_p50_ms": 26.684224128723145, "step_p95_ms": 27.027043724060057, "sample_ms": 266.46569633483887, "sample_ms_from_mean": 266.46569633483887, "output_transfer_ms": 0.07171556353569031, "total_ms": 392.45376363396645, "control_frequency_hz": 2.5480708625148503, "prefill_share": 0.2806700482745341, "sample_share": 0.678973476690533, "other_share": 0.014274182742317985, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.746422991156578, "prefix_embed_ms": 50.33631896972656, "prefill_forward_ms": 59.201534271240234, "prefill_ms": 109.5378532409668, "step_ms": [26.847808837890625, 26.288768768310547, 26.615455627441406, 26.929855346679688, 26.392000198364258, 26.525503158569336, 28.261568069458008, 27.1014404296875, 26.963104248046875, 26.601791381835938], "step_mean_ms": 26.85272960662842, "step_p50_ms": 26.731632232666016, "step_p95_ms": 27.739510631561277, "sample_ms": 268.5272960662842, "sample_ms_from_mean": 268.5272960662842, "output_transfer_ms": 0.0749044120311737, "total_ms": 393.0981680750847, "control_frequency_hz": 2.5438938189327622, "prefill_share": 0.27865266779885944, "sample_share": 0.6831049286777482, "other_share": 0.013257989448708105, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.071419179439545, "prefix_embed_ms": 49.910911560058594, "prefill_forward_ms": 59.268096923828125, "prefill_ms": 109.17900848388672, "step_ms": [26.963584899902344, 26.477279663085938, 26.662784576416016, 26.153696060180664, 26.331520080566406, 26.585216522216797, 26.436832427978516, 26.639680862426758, 26.46463966369629, 26.556575775146484], "step_mean_ms": 26.52718105316162, "step_p50_ms": 26.51692771911621, "step_p95_ms": 26.828224754333498, "sample_ms": 265.2718105316162, "sample_ms_from_mean": 265.2718105316162, "output_transfer_ms": 0.07566437125205994, "total_ms": 389.6428383886814, "control_frequency_hz": 2.566452919128126, "prefill_share": 0.2802027850309855, "sample_share": 0.6808076125012695, "other_share": 0.0129475902684355, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.947899729013443, "prefix_embed_ms": 50.31190490722656, "prefill_forward_ms": 59.226112365722656, "prefill_ms": 109.53801727294922, "step_ms": [26.74336051940918, 26.278400421142578, 26.589344024658203, 26.522016525268555, 26.45964813232422, 26.229568481445312, 26.474655151367188, 26.405344009399414, 26.557952880859375, 26.74518394470215], "step_mean_ms": 26.500547409057617, "step_p50_ms": 26.49833583831787, "step_p95_ms": 26.744363403320314, "sample_ms": 265.0054740905762, "sample_ms_from_mean": 265.0054740905762, "output_transfer_ms": 0.0706017017364502, "total_ms": 389.75063525140285, "control_frequency_hz": 2.565743092002826, "prefill_share": 0.2810464111297557, "sample_share": 0.6799359644908297, "other_share": 0.013312723541247636, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.972864761948586, "prefix_embed_ms": 50.5030403137207, "prefill_forward_ms": 59.29267120361328, "prefill_ms": 109.79571151733398, "step_ms": [27.5863037109375, 26.898624420166016, 26.44883155822754, 27.03878402709961, 26.802560806274414, 26.649696350097656, 28.702783584594727, 27.324512481689453, 26.69740867614746, 26.40563201904297], "step_mean_ms": 27.055513763427733, "step_p50_ms": 26.850592613220215, "step_p95_ms": 28.200367641448974, "sample_ms": 270.55513763427734, "sample_ms_from_mean": 270.55513763427734, "output_transfer_ms": 0.06702914834022522, "total_ms": 395.4378943890333, "control_frequency_hz": 2.5288421119706754, "prefill_share": 0.2776560189988179, "sample_share": 0.6841912256595828, "other_share": 0.012763448821543066, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.769909083843231, "prefix_embed_ms": 51.27977752685547, "prefill_forward_ms": 57.271297454833984, "prefill_ms": 108.55107498168945, "step_ms": [27.03436851501465, 26.636159896850586, 26.50307273864746, 26.936479568481445, 26.492576599121094, 26.322656631469727, 26.347455978393555, 26.611295700073242, 26.39507293701172, 26.553312301635742], "step_mean_ms": 26.583245086669923, "step_p50_ms": 26.5281925201416, "step_p95_ms": 26.990318489074706, "sample_ms": 265.8324508666992, "sample_ms_from_mean": 265.8324508666992, "output_transfer_ms": 0.0741221010684967, "total_ms": 390.05823619663715, "control_frequency_hz": 2.5637197402899536, "prefill_share": 0.27829453376025215, "sample_share": 0.6815199018966159, "other_share": 0.014948227270343747, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.686244651675224, "prefix_embed_ms": 49.605472564697266, "prefill_forward_ms": 57.2856330871582, "prefill_ms": 106.89110565185547, "step_ms": [27.048416137695312, 26.428735733032227, 26.124736785888672, 26.153823852539062, 26.52115249633789, 26.50828742980957, 26.302751541137695, 26.348480224609375, 26.40336036682129, 26.231168746948242], "step_mean_ms": 26.407091331481933, "step_p50_ms": 26.375920295715332, "step_p95_ms": 26.811147499084473, "sample_ms": 264.07091331481934, "sample_ms_from_mean": 264.07091331481934, "output_transfer_ms": 0.10038353502750397, "total_ms": 385.8152665197849, "control_frequency_hz": 2.591914024088311, "prefill_share": 0.2770525557893495, "sample_share": 0.684449103574489, "other_share": 0.013132241790508759, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.387927293777466, "prefix_embed_ms": 50.20790481567383, "prefill_forward_ms": 57.25183868408203, "prefill_ms": 107.45974349975586, "step_ms": [26.77779197692871, 26.31977653503418, 26.3470401763916, 26.04035186767578, 26.36844825744629, 26.39187240600586, 26.261920928955078, 26.46611213684082, 26.385311126708984, 26.67705535888672], "step_mean_ms": 26.403568077087403, "step_p50_ms": 26.376879692077637, "step_p95_ms": 26.732460498809814, "sample_ms": 264.035680770874, "sample_ms_from_mean": 264.035680770874, "output_transfer_ms": 0.07214583456516266, "total_ms": 386.95273362100124, "control_frequency_hz": 2.5842949619253615, "prefill_share": 0.2777076737362107, "sample_share": 0.6823460795847028, "other_share": 0.012914332392139781, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.885594248771667, "prefix_embed_ms": 50.11299133300781, "prefill_forward_ms": 56.91494369506836, "prefill_ms": 107.02793502807617, "step_ms": [26.571712493896484, 26.310367584228516, 26.543296813964844, 26.303136825561523, 26.177183151245117, 26.572832107543945, 26.462751388549805, 26.547391891479492, 26.442432403564453, 26.27587127685547], "step_mean_ms": 26.420697593688963, "step_p50_ms": 26.45259189605713, "step_p95_ms": 26.572328281402587, "sample_ms": 264.20697593688965, "sample_ms_from_mean": 264.20697593688965, "output_transfer_ms": 0.0714026391506195, "total_ms": 386.189978569746, "control_frequency_hz": 2.5893991441815722, "prefill_share": 0.27713804336522135, "sample_share": 0.6841373173777833, "other_share": 0.012942000036790849, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.737841784954071, "prefix_embed_ms": 49.79811096191406, "prefill_forward_ms": 56.981502532958984, "prefill_ms": 106.77961349487305, "step_ms": [26.760831832885742, 26.373760223388672, 26.241151809692383, 26.482080459594727, 26.62348747253418, 26.421823501586914, 26.09561538696289, 26.026655197143555, 26.32054328918457, 26.115903854370117], "step_mean_ms": 26.346185302734376, "step_p50_ms": 26.34715175628662, "step_p95_ms": 26.69902687072754, "sample_ms": 263.46185302734375, "sample_ms_from_mean": 263.46185302734375, "output_transfer_ms": 0.07180124521255493, "total_ms": 385.0863128900528, "control_frequency_hz": 2.59682041798643, "prefill_share": 0.27728748054818564, "sample_share": 0.6841631193019462, "other_share": 0.013075518835973247, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.687809273600578, "prefix_embed_ms": 49.460609436035156, "prefill_forward_ms": 56.96307373046875, "prefill_ms": 106.4236831665039, "step_ms": [27.67308807373047, 27.676895141601562, 26.547679901123047, 27.039936065673828, 26.727903366088867, 26.56844711303711, 26.74457550048828, 26.762208938598633, 26.918560028076172, 26.778047561645508], "step_mean_ms": 26.943734169006348, "step_p50_ms": 26.77012825012207, "step_p95_ms": 27.67518196105957, "sample_ms": 269.4373416900635, "sample_ms_from_mean": 269.4373416900635, "output_transfer_ms": 0.10009109973907471, "total_ms": 390.7962962985039, "control_frequency_hz": 2.5588778846464937, "prefill_share": 0.2723252092573922, "sample_share": 0.6894572549486442, "other_share": 0.013171493991501644, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.498067364096642, "prefix_embed_ms": 52.731422424316406, "prefill_forward_ms": 57.024513244628906, "prefill_ms": 109.75593566894531, "step_ms": [27.338016510009766, 26.91449546813965, 26.656639099121094, 26.233760833740234, 26.45961570739746, 26.365951538085938, 26.701215744018555, 26.95529556274414, 26.73049545288086, 28.50102424621582], "step_mean_ms": 26.88565101623535, "step_p50_ms": 26.715855598449707, "step_p95_ms": 27.977670764923094, "sample_ms": 268.8565101623535, "sample_ms_from_mean": 268.8565101623535, "output_transfer_ms": 0.12207962572574615, "total_ms": 394.770123064518, "control_frequency_hz": 2.5331197615392194, "prefill_share": 0.27802492958923264, "sample_share": 0.6810457389107276, "other_share": 0.014027227289669413, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.949596762657166, "prefix_embed_ms": 50.752864837646484, "prefill_forward_ms": 59.4411506652832, "prefill_ms": 110.19401550292969, "step_ms": [26.955360412597656, 27.08563232421875, 26.3372802734375, 26.456832885742188, 26.67750358581543, 27.062559127807617, 26.52876853942871, 26.587263107299805, 26.892255783081055, 26.392000198364258], "step_mean_ms": 26.6975456237793, "step_p50_ms": 26.632383346557617, "step_p95_ms": 27.07524938583374, "sample_ms": 266.97545623779297, "sample_ms_from_mean": 266.97545623779297, "output_transfer_ms": 0.07971562445163727, "total_ms": 393.77810806035995, "control_frequency_hz": 2.539501255988349, "prefill_share": 0.27983784077208956, "sample_share": 0.6779845064339378, "other_share": 0.014168700134221971, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.182902216911316, "prefix_embed_ms": 53.37715148925781, "prefill_forward_ms": 57.21907043457031, "prefill_ms": 110.59622192382812, "step_ms": [27.32863998413086, 26.857376098632812, 26.671072006225586, 26.945472717285156, 26.492351531982422, 26.418848037719727, 26.422016143798828, 26.410207748413086, 28.330303192138672, 26.41721534729004], "step_mean_ms": 26.82935028076172, "step_p50_ms": 26.581711769104004, "step_p95_ms": 27.879554748535156, "sample_ms": 268.2935028076172, "sample_ms_from_mean": 268.2935028076172, "output_transfer_ms": 0.08005276322364807, "total_ms": 394.60402727127075, "control_frequency_hz": 2.534185996314096, "prefill_share": 0.2802713968446113, "sample_share": 0.6799056377171201, "other_share": 0.013814728646808624, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.052645578980446, "prefix_embed_ms": 50.62246322631836, "prefill_forward_ms": 57.32044982910156, "prefill_ms": 107.94291305541992, "step_ms": [27.50422477722168, 27.748287200927734, 26.75587272644043, 27.395551681518555, 26.880512237548828, 26.47091293334961, 26.095935821533203, 26.585407257080078, 26.336416244506836, 26.21126365661621], "step_mean_ms": 26.798438453674315, "step_p50_ms": 26.670639991760254, "step_p95_ms": 27.63845911026001, "sample_ms": 267.98438453674316, "sample_ms_from_mean": 267.98438453674316, "output_transfer_ms": 0.06233528256416321, "total_ms": 391.067149117589, "control_frequency_hz": 2.5571056077106404, "prefill_share": 0.2760214282866364, "sample_share": 0.6852643724777906, "other_share": 0.012849124952631566, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.278340592980385, "prefix_embed_ms": 50.7215690612793, "prefill_forward_ms": 56.71219253540039, "prefill_ms": 107.43376159667969, "step_ms": [26.747743606567383, 26.544095993041992, 26.271615982055664, 28.405216217041016, 26.68377685546875, 26.536479949951172, 26.794368743896484, 26.83843231201172, 26.63033676147461, 26.561248779296875], "step_mean_ms": 26.801331520080566, "step_p50_ms": 26.65705680847168, "step_p95_ms": 27.70016345977783, "sample_ms": 268.01331520080566, "sample_ms_from_mean": 268.01331520080566, "output_transfer_ms": 0.0786948949098587, "total_ms": 391.98093488812447, "control_frequency_hz": 2.5511444843239905, "prefill_share": 0.2740790483275479, "sample_share": 0.6837406907999225, "other_share": 0.013206822429326547, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.113593190908432, "prefix_embed_ms": 52.61296081542969, "prefill_forward_ms": 56.67737579345703, "prefill_ms": 109.29033660888672, "step_ms": [26.859264373779297, 26.42963218688965, 26.207487106323242, 28.358047485351562, 26.62006378173828, 26.560672760009766, 28.27199935913086, 26.934528350830078, 26.51593589782715, 26.691904067993164], "step_mean_ms": 26.944953536987306, "step_p50_ms": 26.655983924865723, "step_p95_ms": 28.319325828552245, "sample_ms": 269.44953536987305, "sample_ms_from_mean": 269.44953536987305, "output_transfer_ms": 0.07804296910762787, "total_ms": 394.1246848553419, "control_frequency_hz": 2.5372681245962463, "prefill_share": 0.2772988874041225, "sample_share": 0.6836657172812477, "other_share": 0.013176481748338525, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.823951870203018, "prefix_embed_ms": 51.178688049316406, "prefill_forward_ms": 56.64255905151367, "prefill_ms": 107.82124710083008, "step_ms": [28.911296844482422, 27.54921531677246, 28.386783599853516, 28.610143661499023, 26.770111083984375, 26.830047607421875, 26.42006492614746, 27.68169593811035, 26.42995262145996, 26.26825523376465], "step_mean_ms": 27.38575668334961, "step_p50_ms": 27.189631462097168, "step_p95_ms": 28.775777912139894, "sample_ms": 273.8575668334961, "sample_ms_from_mean": 273.8575668334961, "output_transfer_ms": 0.06634742021560669, "total_ms": 397.23654836416245, "control_frequency_hz": 2.517391725706116, "prefill_share": 0.2714283153069442, "sample_share": 0.6894067727686528, "other_share": 0.014267154325946076, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.67138446867466, "prefix_embed_ms": 50.2432975769043, "prefill_forward_ms": 56.6640625, "prefill_ms": 106.9073600769043, "step_ms": [27.288480758666992, 27.18694305419922, 27.06230354309082, 26.578176498413086, 26.859039306640625, 26.437280654907227, 26.134719848632812, 26.351999282836914, 28.05571174621582, 26.444095611572266], "step_mean_ms": 26.83987503051758, "step_p50_ms": 26.718607902526855, "step_p95_ms": 27.710457801818848, "sample_ms": 268.3987503051758, "sample_ms_from_mean": 268.3987503051758, "output_transfer_ms": 0.0658966600894928, "total_ms": 390.1304602622986, "control_frequency_hz": 2.563245124022524, "prefill_share": 0.27402976943924523, "sample_share": 0.6879717880134808, "other_share": 0.013039404172732721, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.181419551372528, "prefix_embed_ms": 52.718910217285156, "prefill_forward_ms": 59.180030822753906, "prefill_ms": 111.89894104003906, "step_ms": [27.460927963256836, 26.597536087036133, 26.634815216064453, 27.941280364990234, 26.79302406311035, 26.32431983947754, 26.596576690673828, 27.562400817871094, 26.56924819946289, 26.51193618774414], "step_mean_ms": 26.89920654296875, "step_p50_ms": 26.616175651550293, "step_p95_ms": 27.77078456878662, "sample_ms": 268.9920654296875, "sample_ms_from_mean": 268.9920654296875, "output_transfer_ms": 0.07484853267669678, "total_ms": 396.31681330502033, "control_frequency_hz": 2.523233853392847, "prefill_share": 0.28234719619103676, "sample_share": 0.6787298857862513, "other_share": 0.01304395518356642, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.934201836585999, "prefix_embed_ms": 52.27171325683594, "prefill_forward_ms": 59.20256042480469, "prefill_ms": 111.47427368164062, "step_ms": [26.941951751708984, 26.43324851989746, 26.427391052246094, 26.243839263916016, 26.43814468383789, 26.576608657836914, 28.23276710510254, 26.65737533569336, 26.487455368041992, 26.536640167236328], "step_mean_ms": 26.697542190551758, "step_p50_ms": 26.51204776763916, "step_p95_ms": 27.651900196075438, "sample_ms": 266.9754219055176, "sample_ms_from_mean": 266.9754219055176, "output_transfer_ms": 0.06927922368049622, "total_ms": 393.4964891523123, "control_frequency_hz": 2.5413187348996296, "prefill_share": 0.283291660166482, "sample_share": 0.6784696414462248, "other_share": 0.012816664554624388, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.889738634228706, "prefix_embed_ms": 50.66960144042969, "prefill_forward_ms": 59.254783630371094, "prefill_ms": 109.92438507080078, "step_ms": [27.528480529785156, 26.410432815551758, 26.356351852416992, 26.31065559387207, 26.185279846191406, 26.475200653076172, 26.07142448425293, 26.193151473999023, 26.174560546875, 27.29324722290039], "step_mean_ms": 26.49987850189209, "step_p50_ms": 26.33350372314453, "step_p95_ms": 27.42262554168701, "sample_ms": 264.9987850189209, "sample_ms_from_mean": 264.9987850189209, "output_transfer_ms": 0.10164082050323486, "total_ms": 390.08662290871143, "control_frequency_hz": 2.5635331776912054, "prefill_share": 0.28179480816630165, "sample_share": 0.6793331774438629, "other_share": 0.013258781666727873, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.93645004928112, "prefix_embed_ms": 51.99532699584961, "prefill_forward_ms": 59.245601654052734, "prefill_ms": 111.24092864990234, "step_ms": [27.364896774291992, 26.288320541381836, 26.311744689941406, 26.22876739501953, 26.294240951538086, 27.975488662719727, 26.072799682617188, 26.176063537597656, 26.221952438354492, 26.46067237854004], "step_mean_ms": 26.539494705200195, "step_p50_ms": 26.29128074645996, "step_p95_ms": 27.700722312927244, "sample_ms": 265.39494705200195, "sample_ms_from_mean": 265.39494705200195, "output_transfer_ms": 0.06883591413497925, "total_ms": 392.13637448847294, "control_frequency_hz": 2.55013323184941, "prefill_share": 0.2836791888919051, "sample_share": 0.6767924740422248, "other_share": 0.014013524836406312, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.098781436681747, "prefix_embed_ms": 52.135902404785156, "prefill_forward_ms": 59.31520080566406, "prefill_ms": 111.45110321044922, "step_ms": [26.857215881347656, 26.19055938720703, 26.377504348754883, 26.160768508911133, 26.305023193359375, 28.670560836791992, 26.116064071655273, 26.09676742553711, 26.264192581176758, 26.682079315185547], "step_mean_ms": 26.572073554992677, "step_p50_ms": 26.284607887268066, "step_p95_ms": 27.854555606842037, "sample_ms": 265.72073554992676, "sample_ms_from_mean": 265.72073554992676, "output_transfer_ms": 0.06906501948833466, "total_ms": 392.3094663769007, "control_frequency_hz": 2.549008080878877, "prefill_share": 0.2840897627063008, "sample_share": 0.6773243021738424, "other_share": 0.012668012337943515, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.801853448152542, "prefix_embed_ms": 53.83891296386719, "prefill_forward_ms": 59.30393600463867, "prefill_ms": 113.14284896850586, "step_ms": [27.969152450561523, 26.868223190307617, 29.141727447509766, 26.78950309753418, 26.60051155090332, 26.502016067504883, 26.492511749267578, 26.39468765258789, 26.216800689697266, 27.014911651611328], "step_mean_ms": 26.999004554748534, "step_p50_ms": 26.69500732421875, "step_p95_ms": 28.614068698883056, "sample_ms": 269.99004554748535, "sample_ms_from_mean": 269.99004554748535, "output_transfer_ms": 0.06349384784698486, "total_ms": 398.8318219780922, "control_frequency_hz": 2.5073224975887953, "prefill_share": 0.283685610660026, "sample_share": 0.6769521153262337, "other_share": 0.014626666791953962, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.4842409491539, "prefix_embed_ms": 50.168575286865234, "prefill_forward_ms": 59.28140640258789, "prefill_ms": 109.44998168945312, "step_ms": [27.166879653930664, 26.334495544433594, 26.389888763427734, 26.335039138793945, 26.574560165405273, 26.506431579589844, 26.331167221069336, 26.77996826171875, 27.829055786132812, 26.88377571105957], "step_mean_ms": 26.713126182556152, "step_p50_ms": 26.54049587249756, "step_p95_ms": 27.531076526641844, "sample_ms": 267.1312618255615, "sample_ms_from_mean": 267.1312618255615, "output_transfer_ms": 0.07711723446846008, "total_ms": 392.5937470048666, "control_frequency_hz": 2.5471623214304633, "prefill_share": 0.27878686944062914, "sample_share": 0.6804266849982462, "other_share": 0.01388495193267054, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.377800092101097, "prefix_embed_ms": 51.12588882446289, "prefill_forward_ms": 59.32748794555664, "prefill_ms": 110.45337677001953, "step_ms": [27.763904571533203, 26.903871536254883, 26.75619125366211, 27.172704696655273, 27.00912094116211, 27.33772850036621, 27.090848922729492, 27.333791732788086, 27.235328674316406, 26.70345687866211], "step_mean_ms": 27.130694770812987, "step_p50_ms": 27.131776809692383, "step_p95_ms": 27.572125339508055, "sample_ms": 271.3069477081299, "sample_ms_from_mean": 271.3069477081299, "output_transfer_ms": 0.0753309577703476, "total_ms": 397.56389893591404, "control_frequency_hz": 2.5153189277912698, "prefill_share": 0.27782546922809065, "sample_share": 0.6824235008115354, "other_share": 0.013458071575949743, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.165529325604439, "prefix_embed_ms": 51.82147216796875, "prefill_forward_ms": 59.438079833984375, "prefill_ms": 111.25955200195312, "step_ms": [26.60905647277832, 26.47724723815918, 26.527999877929688, 25.960832595825195, 25.35171127319336, 25.29043197631836, 25.21049690246582, 25.279296875, 25.179296493530273, 25.208480834960938], "step_mean_ms": 25.709485054016113, "step_p50_ms": 25.32107162475586, "step_p95_ms": 26.572581005096435, "sample_ms": 257.09485054016113, "sample_ms_from_mean": 257.09485054016113, "output_transfer_ms": 0.06763078272342682, "total_ms": 383.28324258327484, "control_frequency_hz": 2.609036578954356, "prefill_share": 0.29028024093117005, "sample_share": 0.6707698693200835, "other_share": 0.012251200707822495, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.826555848121643, "prefix_embed_ms": 49.9202880859375, "prefill_forward_ms": 59.21788787841797, "prefill_ms": 109.13817596435547, "step_ms": [27.36515235900879, 26.125471115112305, 25.950368881225586, 25.686880111694336, 25.608064651489258, 25.608736038208008, 25.596864700317383, 25.671648025512695, 25.663232803344727, 26.032575607299805], "step_mean_ms": 25.93089942932129, "step_p50_ms": 25.679264068603516, "step_p95_ms": 26.80729579925537, "sample_ms": 259.3089942932129, "sample_ms_from_mean": 259.3089942932129, "output_transfer_ms": 0.07130205631256104, "total_ms": 382.6325759291649, "control_frequency_hz": 2.613473245375547, "prefill_share": 0.2852297029319316, "sample_share": 0.6776971188705523, "other_share": 0.011205391377748397, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.797241538763046, "prefix_embed_ms": 49.493438720703125, "prefill_forward_ms": 57.10745620727539, "prefill_ms": 106.60089492797852, "step_ms": [27.04470443725586, 27.375263214111328, 26.953983306884766, 26.72275161743164, 27.066207885742188, 27.13974380493164, 27.94166374206543, 28.256736755371094, 27.72150421142578, 27.324703216552734], "step_mean_ms": 27.354726219177245, "step_p50_ms": 27.232223510742188, "step_p95_ms": 28.114953899383544, "sample_ms": 273.54726219177246, "sample_ms_from_mean": 273.54726219177246, "output_transfer_ms": 0.08747540414333344, "total_ms": 395.9925286471844, "control_frequency_hz": 2.5253001702235784, "prefill_share": 0.26919925810761, "sample_share": 0.6907889477770769, "other_share": 0.015049916736779804, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.62384620308876, "prefix_embed_ms": 53.98057556152344, "prefill_forward_ms": 57.48940658569336, "prefill_ms": 111.4699821472168, "step_ms": [28.23142433166504, 28.18694305419922, 28.881088256835938, 28.4334716796875, 28.378623962402344, 28.799135208129883, 27.310400009155273, 26.874208450317383, 27.184831619262695, 26.613216400146484], "step_mean_ms": 27.889334297180177, "step_p50_ms": 28.20918369293213, "step_p95_ms": 28.844209384918212, "sample_ms": 278.89334297180176, "sample_ms_from_mean": 278.89334297180176, "output_transfer_ms": 0.07137283682823181, "total_ms": 407.04832039773464, "control_frequency_hz": 2.456710788102211, "prefill_share": 0.2738495076906284, "sample_share": 0.6851602844087153, "other_share": 0.014715147904176024, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.320059955120087, "prefix_embed_ms": 50.98467254638672, "prefill_forward_ms": 57.203712463378906, "prefill_ms": 108.18838500976562, "step_ms": [27.141088485717773, 26.33545684814453, 26.240320205688477, 26.355615615844727, 26.95792007446289, 26.425439834594727, 26.22313690185547, 26.55900764465332, 26.24835205078125, 26.26438331604004], "step_mean_ms": 26.47507209777832, "step_p50_ms": 26.34553623199463, "step_p95_ms": 27.058662700653077, "sample_ms": 264.7507209777832, "sample_ms_from_mean": 264.7507209777832, "output_transfer_ms": 0.07211416959762573, "total_ms": 388.5467182844877, "control_frequency_hz": 2.573693079728487, "prefill_share": 0.27844369780663497, "sample_share": 0.6813870984336482, "other_share": 0.01342293713159745, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.12345775961876, "prefix_embed_ms": 51.669921875, "prefill_forward_ms": 57.45151901245117, "prefill_ms": 109.12144088745117, "step_ms": [28.785823822021484, 27.2357120513916, 26.83340835571289, 26.703359603881836, 26.440736770629883, 26.508800506591797, 27.19321632385254, 26.415456771850586, 26.616031646728516, 26.62009620666504], "step_mean_ms": 26.93526420593262, "step_p50_ms": 26.661727905273438, "step_p95_ms": 28.088273525238037, "sample_ms": 269.3526420593262, "sample_ms_from_mean": 269.3526420593262, "output_transfer_ms": 0.0700727105140686, "total_ms": 393.8254714012146, "control_frequency_hz": 2.539195843382201, "prefill_share": 0.2770807091252926, "sample_share": 0.6839391091210548, "other_share": 0.013096811554501502, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.902307763695717, "prefix_embed_ms": 50.23686218261719, "prefill_forward_ms": 59.34489440917969, "prefill_ms": 109.58175659179688, "step_ms": [26.800479888916016, 26.773408889770508, 26.798784255981445, 26.526655197143555, 26.690719604492188, 26.52191925048828, 26.307775497436523, 26.046464920043945, 26.700511932373047, 26.758752822875977], "step_mean_ms": 26.59254722595215, "step_p50_ms": 26.695615768432617, "step_p95_ms": 26.799716854095458, "sample_ms": 265.9254722595215, "sample_ms_from_mean": 265.9254722595215, "output_transfer_ms": 0.0691041350364685, "total_ms": 390.4181830585003, "control_frequency_hz": 2.5613561135039653, "prefill_share": 0.2806779021749024, "sample_share": 0.6811298341083545, "other_share": 0.012651926889659245, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.424487292766571, "prefix_embed_ms": 49.77590560913086, "prefill_forward_ms": 57.55596923828125, "prefill_ms": 107.33187484741211, "step_ms": [27.856096267700195, 26.629375457763672, 26.47145652770996, 26.709280014038086, 26.492319107055664, 26.730688095092773, 26.469280242919922, 26.53990364074707, 27.90812873840332, 26.84931182861328], "step_mean_ms": 26.865583992004396, "step_p50_ms": 26.66932773590088, "step_p95_ms": 27.884714126586914, "sample_ms": 268.65583992004395, "sample_ms_from_mean": 268.65583992004395, "output_transfer_ms": 0.06386451423168182, "total_ms": 391.41107350587845, "control_frequency_hz": 2.5548587346877434, "prefill_share": 0.27421777796432256, "sample_share": 0.6863777192445965, "other_share": 0.012608245564493525, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.85131599009037, "prefix_embed_ms": 51.22553634643555, "prefill_forward_ms": 57.25183868408203, "prefill_ms": 108.47737503051758, "step_ms": [27.065568923950195, 26.407840728759766, 26.69331169128418, 26.34160041809082, 26.499935150146484, 26.477951049804688, 26.49660873413086, 26.861888885498047, 26.608543395996094, 26.883007049560547], "step_mean_ms": 26.63362560272217, "step_p50_ms": 26.55423927307129, "step_p95_ms": 26.983416080474854, "sample_ms": 266.3362560272217, "sample_ms_from_mean": 266.3362560272217, "output_transfer_ms": 0.07800012826919556, "total_ms": 389.92281444370747, "control_frequency_hz": 2.5646101304092026, "prefill_share": 0.27820217492346366, "sample_share": 0.6830486603026719, "other_share": 0.013284340068684161, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.129198431968689, "prefix_embed_ms": 52.16748809814453, "prefill_forward_ms": 57.31020736694336, "prefill_ms": 109.47769546508789, "step_ms": [27.039264678955078, 26.905792236328125, 26.60857582092285, 26.773536682128906, 26.464736938476562, 27.328384399414062, 28.02889633178711, 26.76896095275879, 26.708768844604492, 26.610336303710938], "step_mean_ms": 26.92372531890869, "step_p50_ms": 26.771248817443848, "step_p95_ms": 27.71366596221924, "sample_ms": 269.2372531890869, "sample_ms_from_mean": 269.2372531890869, "output_transfer_ms": 0.06511621177196503, "total_ms": 393.9591497182846, "control_frequency_hz": 2.5383342428144844, "prefill_share": 0.2778909832234486, "sample_share": 0.6834141392111726, "other_share": 0.01281829962314687, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.891295805573463, "prefix_embed_ms": 50.74127960205078, "prefill_forward_ms": 57.18729782104492, "prefill_ms": 107.9285774230957, "step_ms": [27.29916763305664, 26.790687561035156, 26.488927841186523, 26.281728744506836, 26.28563117980957, 26.680543899536133, 26.14080047607422, 26.570783615112305, 26.34636878967285, 26.525728225708008], "step_mean_ms": 26.541036796569824, "step_p50_ms": 26.507328033447266, "step_p95_ms": 27.070351600646973, "sample_ms": 265.41036796569824, "sample_ms_from_mean": 265.41036796569824, "output_transfer_ms": 0.06570667028427124, "total_ms": 388.2569558918476, "control_frequency_hz": 2.57561386814808, "prefill_share": 0.27798234078041906, "sample_share": 0.6835946244827372, "other_share": 0.012777641074839785, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.993711486458778, "prefix_embed_ms": 49.819297790527344, "prefill_forward_ms": 57.16582489013672, "prefill_ms": 106.98512268066406, "step_ms": [26.86899185180664, 26.615135192871094, 26.750944137573242, 26.376352310180664, 26.62950325012207, 26.798015594482422, 26.119840621948242, 26.53900718688965, 26.650815963745117, 26.422239303588867], "step_mean_ms": 26.5770845413208, "step_p50_ms": 26.622319221496582, "step_p95_ms": 26.83705253601074, "sample_ms": 265.770845413208, "sample_ms_from_mean": 265.770845413208, "output_transfer_ms": 0.07294490933418274, "total_ms": 387.8740072250366, "control_frequency_hz": 2.5781567760992563, "prefill_share": 0.27582441898096427, "sample_share": 0.6851989059916901, "other_share": 0.01302325662786906, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.927559643983841, "prefix_embed_ms": 50.15536117553711, "prefill_forward_ms": 56.992767333984375, "prefill_ms": 107.14812850952148, "step_ms": [26.813888549804688, 26.226335525512695, 26.791040420532227, 26.333280563354492, 26.839040756225586, 26.425952911376953, 26.47964859008789, 26.632543563842773, 26.65318489074707, 26.482271194458008], "step_mean_ms": 26.567718696594238, "step_p50_ms": 26.55740737915039, "step_p95_ms": 26.82772226333618, "sample_ms": 265.6771869659424, "sample_ms_from_mean": 265.6771869659424, "output_transfer_ms": 0.07022172212600708, "total_ms": 388.0214598029852, "control_frequency_hz": 2.5771770471348208, "prefill_share": 0.2761396974381909, "sample_share": 0.6846971481959732, "other_share": 0.01339710170682545, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.702960029244423, "prefix_embed_ms": 49.75980758666992, "prefill_forward_ms": 56.151039123535156, "prefill_ms": 105.91084671020508, "step_ms": [26.917024612426758, 26.248607635498047, 26.59833526611328, 26.348928451538086, 26.397727966308594, 26.224960327148438, 26.253952026367188, 26.643552780151367, 26.26963233947754, 26.243871688842773], "step_mean_ms": 26.414659309387208, "step_p50_ms": 26.309280395507812, "step_p95_ms": 26.793962287902833, "sample_ms": 264.14659309387207, "sample_ms_from_mean": 264.14659309387207, "output_transfer_ms": 0.07183477282524109, "total_ms": 384.8761320114136, "control_frequency_hz": 2.598238541771525, "prefill_share": 0.2751816439141107, "sample_share": 0.6863158588541385, "other_share": 0.013105248639105487, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.972892701625824, "prefix_embed_ms": 50.518592834472656, "prefill_forward_ms": 56.18278503417969, "prefill_ms": 106.70137786865234, "step_ms": [26.816511154174805, 26.474079132080078, 27.18726348876953, 26.467967987060547, 26.61894416809082, 26.552127838134766, 26.479455947875977, 26.788480758666992, 26.687488555908203, 27.511295318603516], "step_mean_ms": 26.758361434936525, "step_p50_ms": 26.65321636199951, "step_p95_ms": 27.365480995178224, "sample_ms": 267.58361434936523, "sample_ms_from_mean": 267.58361434936523, "output_transfer_ms": 0.07173418998718262, "total_ms": 389.49025981128216, "control_frequency_hz": 2.567458299174221, "prefill_share": 0.273951338142196, "sample_share": 0.687009771384312, "other_share": 0.013249729798511608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.28355024755001, "prefix_embed_ms": 51.148929595947266, "prefill_forward_ms": 56.1868782043457, "prefill_ms": 107.33580780029297, "step_ms": [27.744863510131836, 28.371936798095703, 28.651872634887695, 28.16592025756836, 27.88742446899414, 28.683488845825195, 26.767488479614258, 26.882368087768555, 26.98371124267578, 27.031328201293945], "step_mean_ms": 27.717040252685546, "step_p50_ms": 27.81614398956299, "step_p95_ms": 28.66926155090332, "sample_ms": 277.17040252685547, "sample_ms_from_mean": 277.17040252685547, "output_transfer_ms": 0.06459839642047882, "total_ms": 399.99155327677727, "control_frequency_hz": 2.5000527931349645, "prefill_share": 0.2683451860945201, "sample_share": 0.6929406390116074, "other_share": 0.012843256972738169, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.882193058729172, "prefix_embed_ms": 50.57948684692383, "prefill_forward_ms": 56.12031936645508, "prefill_ms": 106.6998062133789, "step_ms": [26.638784408569336, 26.479583740234375, 26.583200454711914, 26.268640518188477, 26.833984375, 26.53228759765625, 26.841440200805664, 26.469375610351562, 26.648191452026367, 26.287296295166016], "step_mean_ms": 26.558278465270995, "step_p50_ms": 26.557744026184082, "step_p95_ms": 26.838085079193114, "sample_ms": 265.58278465270996, "sample_ms_from_mean": 265.58278465270996, "output_transfer_ms": 0.06619095802307129, "total_ms": 387.09085434675217, "control_frequency_hz": 2.5833728406928724, "prefill_share": 0.27564538147883566, "sample_share": 0.6860993528273946, "other_share": 0.01255488061610886, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.869115427136421, "prefix_embed_ms": 50.59164810180664, "prefill_forward_ms": 59.19744110107422, "prefill_ms": 109.78908920288086, "step_ms": [26.960800170898438, 26.287424087524414, 26.51238441467285, 26.27552032470703, 26.30668830871582, 26.18227195739746, 26.317663192749023, 26.47551918029785, 26.236160278320312, 27.538976669311523], "step_mean_ms": 26.509340858459474, "step_p50_ms": 26.312175750732422, "step_p95_ms": 27.278797245025633, "sample_ms": 265.0934085845947, "sample_ms_from_mean": 265.0934085845947, "output_transfer_ms": 0.06721913814544678, "total_ms": 389.9014499038458, "control_frequency_hz": 2.5647506574972, "prefill_share": 0.2815816387191074, "sample_share": 0.6798984939655132, "other_share": 0.01303564670596061, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.314429178833961, "prefix_embed_ms": 50.94044876098633, "prefill_forward_ms": 59.30495834350586, "prefill_ms": 110.24540710449219, "step_ms": [26.885408401489258, 26.853567123413086, 26.183712005615234, 26.4965763092041, 26.463199615478516, 26.110111236572266, 26.2989444732666, 26.17673683166504, 26.37615966796875, 26.33014488220215], "step_mean_ms": 26.4174560546875, "step_p50_ms": 26.35315227508545, "step_p95_ms": 26.87107982635498, "sample_ms": 264.174560546875, "sample_ms_from_mean": 264.174560546875, "output_transfer_ms": 0.0688750296831131, "total_ms": 389.7730764001608, "control_frequency_hz": 2.565595369582042, "prefill_share": 0.2828451059849723, "sample_share": 0.6777650293004333, "other_share": 0.012750507516261268, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.776884689927101, "prefix_embed_ms": 50.587615966796875, "prefill_forward_ms": 59.210750579833984, "prefill_ms": 109.79836654663086, "step_ms": [27.096895217895508, 26.25775909423828, 26.574560165405273, 27.64905548095703, 26.64009666442871, 26.285823822021484, 26.150367736816406, 26.30940818786621, 26.451168060302734, 26.358400344848633], "step_mean_ms": 26.577353477478027, "step_p50_ms": 26.404784202575684, "step_p95_ms": 27.400583362579344, "sample_ms": 265.7735347747803, "sample_ms_from_mean": 265.7735347747803, "output_transfer_ms": 0.09237229824066162, "total_ms": 390.49642719328403, "control_frequency_hz": 2.5608428921810082, "prefill_share": 0.2811763665440246, "sample_share": 0.6806042674578181, "other_share": 0.012945749388900125, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.067185387015343, "prefix_embed_ms": 50.50697708129883, "prefill_forward_ms": 59.25580978393555, "prefill_ms": 109.76278686523438, "step_ms": [26.810592651367188, 26.797311782836914, 26.91302490234375, 26.9420166015625, 26.866687774658203, 27.879968643188477, 27.81497573852539, 26.840927124023438, 26.465408325195312, 26.269983291625977], "step_mean_ms": 26.960089683532715, "step_p50_ms": 26.85380744934082, "step_p95_ms": 27.850721836090088, "sample_ms": 269.60089683532715, "sample_ms_from_mean": 269.60089683532715, "output_transfer_ms": 0.0797417014837265, "total_ms": 394.7098199278116, "control_frequency_hz": 2.5335067675359326, "prefill_share": 0.2780847633466754, "sample_share": 0.6830356966660581, "other_share": 0.013172231538860402, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.381672531366348, "prefix_embed_ms": 49.67136001586914, "prefill_forward_ms": 59.198463439941406, "prefill_ms": 108.86982345581055, "step_ms": [28.45359992980957, 26.30291175842285, 26.862112045288086, 26.437631607055664, 27.64614486694336, 27.943552017211914, 26.470624923706055, 27.906688690185547, 26.837024688720703, 26.864639282226562], "step_mean_ms": 27.17249298095703, "step_p50_ms": 26.863375663757324, "step_p95_ms": 28.224078369140624, "sample_ms": 271.7249298095703, "sample_ms_from_mean": 271.7249298095703, "output_transfer_ms": 0.0718478113412857, "total_ms": 397.12442830204964, "control_frequency_hz": 2.518102460419302, "prefill_share": 0.2741453703094916, "sample_share": 0.6842312143107412, "other_share": 0.015300380084751848, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.134205222129822, "prefix_embed_ms": 49.805023193359375, "prefill_forward_ms": 59.210750579833984, "prefill_ms": 109.01577377319336, "step_ms": [26.824832916259766, 26.195327758789062, 26.38876724243164, 26.306880950927734, 26.01638412475586, 26.14851188659668, 26.227680206298828, 26.164255142211914, 26.291744232177734, 26.31635284423828], "step_mean_ms": 26.28807373046875, "step_p50_ms": 26.25971221923828, "step_p95_ms": 26.628603363037108, "sample_ms": 262.8807373046875, "sample_ms_from_mean": 262.8807373046875, "output_transfer_ms": 0.07583200931549072, "total_ms": 387.2554674744606, "control_frequency_hz": 2.5822747100812715, "prefill_share": 0.28150867561445836, "sample_share": 0.6788302797094128, "other_share": 0.013295923744379412, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.870968759059906, "prefix_embed_ms": 50.513023376464844, "prefill_forward_ms": 59.23430252075195, "prefill_ms": 109.7473258972168, "step_ms": [27.153919219970703, 26.32761573791504, 26.302080154418945, 25.99555206298828, 25.82099151611328, 26.00160026550293, 26.10655975341797, 26.250431060791016, 26.35024070739746, 26.58051109313965], "step_mean_ms": 26.288950157165527, "step_p50_ms": 26.27625560760498, "step_p95_ms": 26.895885562896726, "sample_ms": 262.8895015716553, "sample_ms_from_mean": 262.8895015716553, "output_transfer_ms": 0.07375888526439667, "total_ms": 387.6846730709076, "control_frequency_hz": 2.5794158744498517, "prefill_share": 0.28308399459770234, "sample_share": 0.6781013535801369, "other_share": 0.013163063469310428, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.18434762954712, "prefix_embed_ms": 50.314430236816406, "prefill_forward_ms": 59.30188751220703, "prefill_ms": 109.61631774902344, "step_ms": [27.070463180541992, 26.150144577026367, 26.228256225585938, 26.689632415771484, 26.500320434570312, 26.36809539794922, 26.33523178100586, 26.049535751342773, 26.24652862548828, 26.18739128112793], "step_mean_ms": 26.382559967041015, "step_p50_ms": 26.29088020324707, "step_p95_ms": 26.899089336395264, "sample_ms": 263.82559967041016, "sample_ms_from_mean": 263.82559967041016, "output_transfer_ms": 0.08345209062099457, "total_ms": 388.906491920352, "control_frequency_hz": 2.57131218114199, "prefill_share": 0.2818577730799949, "sample_share": 0.6783779781296159, "other_share": 0.013362530296394675, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.959729388356209, "prefix_embed_ms": 50.51987075805664, "prefill_forward_ms": 56.9958381652832, "prefill_ms": 107.51570892333984, "step_ms": [26.924928665161133, 27.19536018371582, 26.25372886657715, 26.284320831298828, 26.432064056396484, 26.789215087890625, 27.65990447998047, 27.110687255859375, 27.703935623168945, 27.169504165649414], "step_mean_ms": 26.952364921569824, "step_p50_ms": 27.017807960510254, "step_p95_ms": 27.68412160873413, "sample_ms": 269.52364921569824, "sample_ms_from_mean": 269.52364921569824, "output_transfer_ms": 0.06786920130252838, "total_ms": 392.0958898961544, "control_frequency_hz": 2.550396537604226, "prefill_share": 0.27420769177614973, "sample_share": 0.6873921817621728, "other_share": 0.012825773738126867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.591160506010056, "prefix_embed_ms": 50.26310348510742, "prefill_forward_ms": 59.28140640258789, "prefill_ms": 109.54450988769531, "step_ms": [26.667776107788086, 27.489503860473633, 26.794431686401367, 26.584096908569336, 26.23753547668457, 26.59644889831543, 26.435136795043945, 26.266496658325195, 26.549663543701172, 28.086143493652344], "step_mean_ms": 26.770723342895508, "step_p50_ms": 26.590272903442383, "step_p95_ms": 27.81765565872192, "sample_ms": 267.7072334289551, "sample_ms_from_mean": 267.7072334289551, "output_transfer_ms": 0.07460080087184906, "total_ms": 393.81234534084797, "control_frequency_hz": 2.5392804766810735, "prefill_share": 0.27816423528542156, "sample_share": 0.6797837513124485, "other_share": 0.014968653946624347, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.346150025725365, "prefix_embed_ms": 50.505409240722656, "prefill_forward_ms": 59.34694290161133, "prefill_ms": 109.85235214233398, "step_ms": [26.915008544921875, 26.48886489868164, 27.83305549621582, 26.20947265625, 26.24345588684082, 26.155071258544922, 26.246047973632812, 26.703168869018555, 26.22643280029297, 26.26598358154297], "step_mean_ms": 26.528656196594238, "step_p50_ms": 26.25601577758789, "step_p95_ms": 27.419934368133543, "sample_ms": 265.2865619659424, "sample_ms_from_mean": 265.2865619659424, "output_transfer_ms": 0.07778964936733246, "total_ms": 390.7443694770336, "control_frequency_hz": 2.559217939182041, "prefill_share": 0.28113611026400387, "sample_share": 0.6789261284071679, "other_share": 0.013260627915379596, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.205360129475594, "prefix_embed_ms": 52.5819206237793, "prefill_forward_ms": 57.78841781616211, "prefill_ms": 110.3703384399414, "step_ms": [27.170751571655273, 26.979839324951172, 28.388736724853516, 27.886655807495117, 27.387712478637695, 27.40492820739746, 27.30556869506836, 28.270048141479492, 27.368799209594727, 26.95180892944336], "step_mean_ms": 27.511484909057618, "step_p50_ms": 27.37825584411621, "step_p95_ms": 28.335326862335204, "sample_ms": 275.1148490905762, "sample_ms_from_mean": 275.1148490905762, "output_transfer_ms": 0.07086805999279022, "total_ms": 401.0233152657747, "control_frequency_hz": 2.4936205999325964, "prefill_share": 0.27522174955537043, "sample_share": 0.6860320550396083, "other_share": 0.013121181102154838, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.2789755910635, "prefix_embed_ms": 51.20355224609375, "prefill_forward_ms": 57.208831787109375, "prefill_ms": 108.41238403320312, "step_ms": [31.229536056518555, 28.876127243041992, 28.9267520904541, 28.805696487426758, 26.74233627319336, 26.801664352416992, 26.175552368164062, 26.124256134033203, 26.217344284057617, 28.67308807373047], "step_mean_ms": 27.85723533630371, "step_p50_ms": 27.73737621307373, "step_p95_ms": 30.193283271789547, "sample_ms": 278.5723533630371, "sample_ms_from_mean": 278.5723533630371, "output_transfer_ms": 0.06652064621448517, "total_ms": 402.724327519536, "control_frequency_hz": 2.4830881366397968, "prefill_share": 0.26919750465768444, "sample_share": 0.6917197058315869, "other_share": 0.013394010536292059, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.045470669865608, "prefix_embed_ms": 50.26678466796875, "prefill_forward_ms": 57.29792022705078, "prefill_ms": 107.56470489501953, "step_ms": [26.769920349121094, 26.391231536865234, 28.59129524230957, 26.88368034362793, 26.55183982849121, 26.746591567993164, 26.368671417236328, 26.899839401245117, 26.510271072387695, 29.06038475036621], "step_mean_ms": 27.077372550964355, "step_p50_ms": 26.75825595855713, "step_p95_ms": 28.849294471740723, "sample_ms": 270.77372550964355, "sample_ms_from_mean": 270.77372550964355, "output_transfer_ms": 0.07309578359127045, "total_ms": 393.66672188043594, "control_frequency_hz": 2.540219796134353, "prefill_share": 0.27323799273967836, "sample_share": 0.687824777812646, "other_share": 0.013233846634103534, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.04907488822937, "prefix_embed_ms": 49.8966064453125, "prefill_forward_ms": 57.162750244140625, "prefill_ms": 107.05935668945312, "step_ms": [27.701311111450195, 26.402751922607422, 26.718080520629883, 28.25494384765625, 26.56060791015625, 26.986623764038086, 26.390911102294922, 26.706560134887695, 26.966751098632812, 26.66204833984375], "step_mean_ms": 26.935058975219725, "step_p50_ms": 26.71232032775879, "step_p95_ms": 28.005809116363526, "sample_ms": 269.35058975219727, "sample_ms_from_mean": 269.35058975219727, "output_transfer_ms": 0.08166208863258362, "total_ms": 391.8370492756367, "control_frequency_hz": 2.552081284423293, "prefill_share": 0.273224180529551, "sample_share": 0.6874045990549591, "other_share": 0.013516756179425531, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.583639472723007, "prefix_embed_ms": 50.220062255859375, "prefill_forward_ms": 56.787967681884766, "prefill_ms": 107.00802993774414, "step_ms": [26.95008087158203, 26.41254425048828, 28.026752471923828, 26.283199310302734, 26.338911056518555, 26.207456588745117, 26.407136917114258, 26.239648818969727, 26.086687088012695, 26.274112701416016], "step_mean_ms": 26.522653007507323, "step_p50_ms": 26.311055183410645, "step_p95_ms": 27.542250251770017, "sample_ms": 265.22653007507324, "sample_ms_from_mean": 265.22653007507324, "output_transfer_ms": 0.0689830631017685, "total_ms": 390.06941951811314, "control_frequency_hz": 2.5636462382398175, "prefill_share": 0.27433073341135156, "sample_share": 0.6799469961083614, "other_share": 0.013285422312451584, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.578504160046577, "prefix_embed_ms": 49.936767578125, "prefill_forward_ms": 56.15513610839844, "prefill_ms": 106.09190368652344, "step_ms": [27.277759552001953, 26.4388484954834, 26.776575088500977, 28.010847091674805, 26.68681526184082, 26.446239471435547, 26.487775802612305, 26.923328399658203, 26.533632278442383, 26.634368896484375], "step_mean_ms": 26.821619033813477, "step_p50_ms": 26.660592079162598, "step_p95_ms": 27.68095769882202, "sample_ms": 268.21619033813477, "sample_ms_from_mean": 268.21619033813477, "output_transfer_ms": 0.07312372326850891, "total_ms": 392.1328503638506, "control_frequency_hz": 2.550156150070376, "prefill_share": 0.2705509206588617, "sample_share": 0.6839931673392409, "other_share": 0.013192285346859574, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.219717398285866, "prefix_embed_ms": 52.30652618408203, "prefill_forward_ms": 56.14591979980469, "prefill_ms": 108.45244598388672, "step_ms": [27.934368133544922, 26.607328414916992, 28.44710350036621, 27.391712188720703, 26.634719848632812, 26.387039184570312, 29.90550422668457, 29.811744689941406, 29.359359741210938, 28.257471084594727], "step_mean_ms": 28.07363510131836, "step_p50_ms": 28.095919609069824, "step_p95_ms": 29.863312435150146, "sample_ms": 280.7363510131836, "sample_ms_from_mean": 280.7363510131836, "output_transfer_ms": 0.07599033415317535, "total_ms": 404.4600035995245, "control_frequency_hz": 2.472432356970823, "prefill_share": 0.26814133664319195, "sample_share": 0.6941016380229139, "other_share": 0.01230158439829721, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.445844545960426, "prefix_embed_ms": 55.821632385253906, "prefill_forward_ms": 56.1541748046875, "prefill_ms": 111.9758071899414, "step_ms": [27.066240310668945, 26.542720794677734, 26.2227840423584, 26.50921630859375, 26.34979248046875, 27.255104064941406, 26.64396858215332, 26.780960083007812, 27.238752365112305, 26.70537567138672], "step_mean_ms": 26.731491470336913, "step_p50_ms": 26.67467212677002, "step_p95_ms": 27.24774580001831, "sample_ms": 267.31491470336914, "sample_ms_from_mean": 267.31491470336914, "output_transfer_ms": 0.06690807640552521, "total_ms": 395.94294130802155, "control_frequency_hz": 2.5256164352783745, "prefill_share": 0.28280793899247836, "sample_share": 0.6751349419698659, "other_share": 0.01298032179931408, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.544825345277786, "prefix_embed_ms": 50.50191879272461, "prefill_forward_ms": 56.12134552001953, "prefill_ms": 106.62326431274414, "step_ms": [26.812320709228516, 26.329792022705078, 26.401376724243164, 26.56710433959961, 26.42144012451172, 27.266239166259766, 26.367839813232422, 26.335968017578125, 26.46067237854004, 26.384191513061523], "step_mean_ms": 26.534694480895997, "step_p50_ms": 26.41140842437744, "step_p95_ms": 27.0619758605957, "sample_ms": 265.34694480895996, "sample_ms_from_mean": 265.34694480895996, "output_transfer_ms": 0.07588602602481842, "total_ms": 387.63116858899593, "control_frequency_hz": 2.5797719095708134, "prefill_share": 0.27506370218076154, "sample_share": 0.6845345945085919, "other_share": 0.013002690455300786, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.410761460661888, "prefix_embed_ms": 51.05110549926758, "prefill_forward_ms": 59.29267120361328, "prefill_ms": 110.34377670288086, "step_ms": [27.463520050048828, 26.8002872467041, 27.05513572692871, 26.744192123413086, 26.82294464111328, 27.227392196655273, 27.0611515045166, 26.62326431274414, 27.04003143310547, 26.63555145263672], "step_mean_ms": 26.94734706878662, "step_p50_ms": 26.931488037109375, "step_p95_ms": 27.357262516021727, "sample_ms": 269.4734706878662, "sample_ms_from_mean": 269.4734706878662, "output_transfer_ms": 0.07444992661476135, "total_ms": 395.65812423825264, "control_frequency_hz": 2.5274345166683143, "prefill_share": 0.2788866699384021, "sample_share": 0.6810765511429203, "other_share": 0.013536093743910866, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.230572894215584, "prefix_embed_ms": 50.9455680847168, "prefill_forward_ms": 59.368446350097656, "prefill_ms": 110.31401443481445, "step_ms": [28.0001277923584, 27.43097686767578, 27.421728134155273, 27.25436782836914, 27.281280517578125, 28.151775360107422, 28.25040054321289, 27.435264587402344, 26.813247680664062, 26.642751693725586], "step_mean_ms": 27.468192100524902, "step_p50_ms": 27.426352500915527, "step_p95_ms": 28.20601921081543, "sample_ms": 274.681921005249, "sample_ms_from_mean": 274.681921005249, "output_transfer_ms": 0.07504969835281372, "total_ms": 400.54208785295486, "control_frequency_hz": 2.496616536255524, "prefill_share": 0.27541179261868837, "sample_share": 0.6857754261921383, "other_share": 0.013083593408158569, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.341845452785492, "prefix_embed_ms": 50.895809173583984, "prefill_forward_ms": 59.249664306640625, "prefill_ms": 110.14547348022461, "step_ms": [28.029216766357422, 26.810304641723633, 27.201791763305664, 26.61689567565918, 27.591903686523438, 27.17740821838379, 26.579679489135742, 27.390623092651367, 27.437856674194336, 27.61257553100586], "step_mean_ms": 27.244825553894042, "step_p50_ms": 27.296207427978516, "step_p95_ms": 27.84172821044922, "sample_ms": 272.44825553894043, "sample_ms_from_mean": 272.44825553894043, "output_transfer_ms": 0.07524155080318451, "total_ms": 398.24050292372704, "control_frequency_hz": 2.5110454427874327, "prefill_share": 0.276580289226182, "sample_share": 0.6841299504664422, "other_share": 0.013131981459894186, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.301830247044563, "prefix_embed_ms": 51.199073791503906, "prefill_forward_ms": 59.25580978393555, "prefill_ms": 110.45488357543945, "step_ms": [27.5666561126709, 28.077791213989258, 27.019296646118164, 26.868896484375, 26.83420753479004, 29.006752014160156, 27.959264755249023, 28.094560623168945, 28.954975128173828, 27.860288619995117], "step_mean_ms": 27.824268913269044, "step_p50_ms": 27.90977668762207, "step_p95_ms": 28.98345241546631, "sample_ms": 278.24268913269043, "sample_ms_from_mean": 278.24268913269043, "output_transfer_ms": 0.08044764399528503, "total_ms": 404.4149983674288, "control_frequency_hz": 2.472707501049346, "prefill_share": 0.2731226191445213, "sample_share": 0.6880127845305448, "other_share": 0.013192259905780825, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.563254356384277, "prefix_embed_ms": 56.871742248535156, "prefill_forward_ms": 59.452415466308594, "prefill_ms": 116.32415771484375, "step_ms": [28.89481544494629, 27.564767837524414, 27.071584701538086, 27.367263793945312, 27.63689613342285, 28.72812843322754, 27.354496002197266, 27.19980812072754, 27.20207977294922, 27.288799285888672], "step_mean_ms": 27.63086395263672, "step_p50_ms": 27.36087989807129, "step_p95_ms": 28.81980628967285, "sample_ms": 276.3086395263672, "sample_ms_from_mean": 276.3086395263672, "output_transfer_ms": 0.08044391870498657, "total_ms": 409.02175195515156, "control_frequency_hz": 2.444857749544939, "prefill_share": 0.28439601844842344, "sample_share": 0.6755353186122578, "other_share": 0.014046334727648697, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.145282536745071, "prefix_embed_ms": 52.43801498413086, "prefill_forward_ms": 59.31315231323242, "prefill_ms": 111.75116729736328, "step_ms": [27.90595245361328, 27.090496063232422, 27.42313575744629, 26.53411293029785, 31.58064079284668, 37.571903228759766, 30.02003288269043, 26.1628475189209, 26.39411163330078, 26.391263961791992], "step_mean_ms": 28.70744972229004, "step_p50_ms": 27.256815910339355, "step_p95_ms": 34.87583513259887, "sample_ms": 287.0744972229004, "sample_ms_from_mean": 287.0744972229004, "output_transfer_ms": 0.07018819451332092, "total_ms": 415.7166313380003, "control_frequency_hz": 2.4054847090948965, "prefill_share": 0.26881572415731303, "sample_share": 0.6905533134407922, "other_share": 0.013652319052551317, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.651497170329094, "prefix_embed_ms": 50.576927185058594, "prefill_forward_ms": 58.54515075683594, "prefill_ms": 109.12207794189453, "step_ms": [27.019807815551758, 26.60153579711914, 26.539936065673828, 26.447328567504883, 26.533824920654297, 26.37379264831543, 28.882591247558594, 26.600128173828125, 27.32035255432129, 28.019775390625], "step_mean_ms": 27.033907318115233, "step_p50_ms": 26.600831985473633, "step_p95_ms": 28.494324111938475, "sample_ms": 270.33907318115234, "sample_ms_from_mean": 270.33907318115234, "output_transfer_ms": 0.08195266127586365, "total_ms": 395.87595872581005, "control_frequency_hz": 2.5260437719397246, "prefill_share": 0.2756471453662439, "sample_share": 0.6828883321212074, "other_share": 0.014351358413995574, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.55954024195671, "prefix_embed_ms": 51.02134323120117, "prefill_forward_ms": 58.10892868041992, "prefill_ms": 109.1302719116211, "step_ms": [27.743776321411133, 27.049440383911133, 26.879615783691406, 26.821760177612305, 27.297311782836914, 27.39014434814453, 28.37945556640625, 26.328096389770508, 26.208160400390625, 26.448383331298828], "step_mean_ms": 27.054614448547362, "step_p50_ms": 26.96452808380127, "step_p95_ms": 28.093399906158446, "sample_ms": 270.54614448547363, "sample_ms_from_mean": 270.54614448547363, "output_transfer_ms": 0.07103756070137024, "total_ms": 395.4400159418583, "control_frequency_hz": 2.528828544623138, "prefill_share": 0.2759717466925921, "sample_share": 0.6841648128126016, "other_share": 0.012980531901607535, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.016018524765968, "prefix_embed_ms": 49.73001480102539, "prefill_forward_ms": 57.16070556640625, "prefill_ms": 106.89072036743164, "step_ms": [29.71436882019043, 27.034528732299805, 27.18332862854004, 27.434911727905273, 26.58697509765625, 26.321632385253906, 26.68707275390625, 26.568544387817383, 28.73151969909668, 27.45180892944336], "step_mean_ms": 27.37146911621094, "step_p50_ms": 27.108928680419922, "step_p95_ms": 29.27208671569824, "sample_ms": 273.7146911621094, "sample_ms_from_mean": 273.7146911621094, "output_transfer_ms": 0.07398054003715515, "total_ms": 396.57741598784924, "control_frequency_hz": 2.5215757622230286, "prefill_share": 0.269533049685075, "sample_share": 0.6901923309987368, "other_share": 0.014831922233527578, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.427944362163544, "prefix_embed_ms": 50.301761627197266, "prefill_forward_ms": 57.166847229003906, "prefill_ms": 107.46860885620117, "step_ms": [29.70159912109375, 26.97177505493164, 26.516063690185547, 26.488895416259766, 26.772672653198242, 28.85260772705078, 27.396896362304688, 27.00387191772461, 27.036479949951172, 27.388736724853516], "step_mean_ms": 27.412959861755372, "step_p50_ms": 27.02017593383789, "step_p95_ms": 29.319552993774412, "sample_ms": 274.1295986175537, "sample_ms_from_mean": 274.1295986175537, "output_transfer_ms": 0.09252317249774933, "total_ms": 397.42344431579113, "control_frequency_hz": 2.516207874252642, "prefill_share": 0.2704133598389506, "sample_share": 0.6897670546072048, "other_share": 0.013347902302310593, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.514983907341957, "prefix_embed_ms": 52.99808120727539, "prefill_forward_ms": 57.28358459472656, "prefill_ms": 110.28166580200195, "step_ms": [27.293855667114258, 26.62713623046875, 26.38003158569336, 26.398656845092773, 26.473407745361328, 26.25484848022461, 27.468799591064453, 26.230239868164062, 26.492319107055664, 26.655487060546875], "step_mean_ms": 26.627478218078615, "step_p50_ms": 26.482863426208496, "step_p95_ms": 27.390074825286867, "sample_ms": 266.27478218078613, "sample_ms_from_mean": 266.27478218078613, "output_transfer_ms": 0.09089522063732147, "total_ms": 392.2233171761036, "control_frequency_hz": 2.5495679532765054, "prefill_share": 0.28117060096273366, "sample_share": 0.6788856514138142, "other_share": 0.012903338082432013, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.23833453655243, "prefix_embed_ms": 50.30995178222656, "prefill_forward_ms": 57.32659149169922, "prefill_ms": 107.63654327392578, "step_ms": [27.85433578491211, 27.035072326660156, 27.134944915771484, 27.37811279296875, 26.72870445251465, 26.589536666870117, 26.403392791748047, 26.75209617614746, 27.941312789916992, 26.30009651184082], "step_mean_ms": 27.01176052093506, "step_p50_ms": 26.89358425140381, "step_p95_ms": 27.902173137664796, "sample_ms": 270.1176052093506, "sample_ms_from_mean": 270.1176052093506, "output_transfer_ms": 0.06864033639431, "total_ms": 393.0181320756674, "control_frequency_hz": 2.5444118690367983, "prefill_share": 0.2738716982482697, "sample_share": 0.6872904407304676, "other_share": 0.012612671820672912, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.054139420390129, "prefix_embed_ms": 49.68588638305664, "prefill_forward_ms": 59.25273513793945, "prefill_ms": 108.9386215209961, "step_ms": [27.686752319335938, 26.561824798583984, 26.128799438476562, 26.1625919342041, 26.395904541015625, 26.52569580078125, 26.588096618652344, 26.712127685546875, 27.166303634643555, 26.2871036529541], "step_mean_ms": 26.621520042419434, "step_p50_ms": 26.543760299682617, "step_p95_ms": 27.452550411224365, "sample_ms": 266.21520042419434, "sample_ms_from_mean": 266.21520042419434, "output_transfer_ms": 0.07474608719348907, "total_ms": 390.34850150346756, "control_frequency_hz": 2.5618133440973816, "prefill_share": 0.279080414300062, "sample_share": 0.68199365284826, "other_share": 0.012977618797515767, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.261304676532745, "prefix_embed_ms": 50.314239501953125, "prefill_forward_ms": 59.258880615234375, "prefill_ms": 109.5731201171875, "step_ms": [26.645183563232422, 27.662687301635742, 26.71401596069336, 26.430944442749023, 26.356544494628906, 26.391647338867188, 26.433727264404297, 27.806304931640625, 26.220064163208008, 27.127199172973633], "step_mean_ms": 26.77883186340332, "step_p50_ms": 26.53945541381836, "step_p95_ms": 27.741676998138427, "sample_ms": 267.7883186340332, "sample_ms_from_mean": 267.7883186340332, "output_transfer_ms": 0.08466467261314392, "total_ms": 393.67240853607655, "control_frequency_hz": 2.5401831022870858, "prefill_share": 0.27833578818655286, "sample_share": 0.6802313619840411, "other_share": 0.015152193311925528, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.041732504963875, "prefix_embed_ms": 51.996734619140625, "prefill_forward_ms": 59.33055877685547, "prefill_ms": 111.3272933959961, "step_ms": [27.963808059692383, 26.80352020263672, 26.319551467895508, 26.198144912719727, 26.652416229248047, 26.36911964416504, 28.603872299194336, 26.699296951293945, 26.509920120239258, 26.341920852661133], "step_mean_ms": 26.84615707397461, "step_p50_ms": 26.581168174743652, "step_p95_ms": 28.315843391418458, "sample_ms": 268.4615707397461, "sample_ms_from_mean": 268.4615707397461, "output_transfer_ms": 0.0710468739271164, "total_ms": 396.2376229465008, "control_frequency_hz": 2.5237381361310507, "prefill_share": 0.28096093593572585, "sample_share": 0.677526704161541, "other_share": 0.01346661478581516, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.367974638938904, "prefix_embed_ms": 52.919551849365234, "prefill_forward_ms": 59.394046783447266, "prefill_ms": 112.3135986328125, "step_ms": [27.16739273071289, 26.65558433532715, 26.546207427978516, 27.71161651611328, 26.700319290161133, 26.40345573425293, 28.316640853881836, 26.89411163330078, 26.78268814086914, 26.838144302368164], "step_mean_ms": 27.001616096496583, "step_p50_ms": 26.810416221618652, "step_p95_ms": 28.044379901885986, "sample_ms": 270.0161609649658, "sample_ms_from_mean": 270.0161609649658, "output_transfer_ms": 0.09633786976337433, "total_ms": 398.27078953385353, "control_frequency_hz": 2.510854489656211, "prefill_share": 0.2820031033766429, "sample_share": 0.6779712900386186, "other_share": 0.013751240541097741, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.122500360012054, "prefix_embed_ms": 50.99705505371094, "prefill_forward_ms": 59.37356948852539, "prefill_ms": 110.37062454223633, "step_ms": [27.681119918823242, 27.167327880859375, 27.272415161132812, 26.771615982055664, 28.747039794921875, 28.45248031616211, 27.007104873657227, 26.649248123168945, 26.561920166015625, 26.221599578857422], "step_mean_ms": 27.25318717956543, "step_p50_ms": 27.0872163772583, "step_p95_ms": 28.61448802947998, "sample_ms": 272.5318717956543, "sample_ms_from_mean": 272.5318717956543, "output_transfer_ms": 0.07148832082748413, "total_ms": 398.4789717942476, "control_frequency_hz": 2.509542713125511, "prefill_share": 0.2769797965630808, "sample_share": 0.6839303729592401, "other_share": 0.013507580465994276, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.615034028887749, "prefix_embed_ms": 51.08796691894531, "prefill_forward_ms": 59.249664306640625, "prefill_ms": 110.33763122558594, "step_ms": [26.625823974609375, 26.446752548217773, 26.179264068603516, 26.431392669677734, 27.38921546936035, 26.876575469970703, 26.870752334594727, 26.642175674438477, 26.40496063232422, 27.013952255249023], "step_mean_ms": 26.68808650970459, "step_p50_ms": 26.633999824523926, "step_p95_ms": 27.22034702301025, "sample_ms": 266.8808650970459, "sample_ms_from_mean": 266.8808650970459, "output_transfer_ms": 0.0675395131111145, "total_ms": 392.79648289084435, "control_frequency_hz": 2.5458476426274257, "prefill_share": 0.2809027983487522, "sample_share": 0.6794380212696823, "other_share": 0.012462975712473602, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.232271626591682, "prefix_embed_ms": 52.67705535888672, "prefill_forward_ms": 59.51897430419922, "prefill_ms": 112.19602966308594, "step_ms": [26.984960556030273, 27.285184860229492, 26.980735778808594, 26.454879760742188, 26.507808685302734, 28.144224166870117, 26.35798454284668, 26.858335494995117, 26.428672790527344, 26.67171287536621], "step_mean_ms": 26.867449951171874, "step_p50_ms": 26.765024185180664, "step_p95_ms": 27.757656478881835, "sample_ms": 268.67449951171875, "sample_ms_from_mean": 268.67449951171875, "output_transfer_ms": 0.07416307926177979, "total_ms": 396.3009174913168, "control_frequency_hz": 2.52333506147361, "prefill_share": 0.28310817540699795, "sample_share": 0.6779557847417943, "other_share": 0.012929451799139262, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.213056579232216, "prefix_embed_ms": 50.5753288269043, "prefill_forward_ms": 59.226112365722656, "prefill_ms": 109.80144119262695, "step_ms": [27.343168258666992, 26.60710334777832, 26.474464416503906, 26.60246467590332, 26.102495193481445, 26.547840118408203, 26.61190414428711, 26.247968673706055, 27.444896697998047, 26.442975997924805], "step_mean_ms": 26.64252815246582, "step_p50_ms": 26.57515239715576, "step_p95_ms": 27.399118900299072, "sample_ms": 266.4252815246582, "sample_ms_from_mean": 266.4252815246582, "output_transfer_ms": 0.0716913491487503, "total_ms": 391.6595596820116, "control_frequency_hz": 2.553237819120003, "prefill_share": 0.28034919224689614, "sample_share": 0.6802471047584512, "other_share": 0.013144295623794336, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.458189994096756, "prefix_embed_ms": 50.507198333740234, "prefill_forward_ms": 59.2250862121582, "prefill_ms": 109.73228454589844, "step_ms": [27.41779136657715, 29.055423736572266, 26.947359085083008, 27.118816375732422, 26.485088348388672, 26.81283187866211, 26.635295867919922, 26.739904403686523, 28.104543685913086, 26.72879981994629], "step_mean_ms": 27.204585456848143, "step_p50_ms": 26.88009548187256, "step_p95_ms": 28.627527713775635, "sample_ms": 272.04585456848145, "sample_ms_from_mean": 272.04585456848145, "output_transfer_ms": 0.07437169551849365, "total_ms": 397.69413508474827, "control_frequency_hz": 2.5144952157438802, "prefill_share": 0.27592130450330776, "sample_share": 0.684057999775402, "other_share": 0.013536619743225358, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.367313399910927, "prefix_embed_ms": 50.26502227783203, "prefill_forward_ms": 59.23430252075195, "prefill_ms": 109.49932479858398, "step_ms": [26.76038360595703, 26.59916877746582, 27.53500747680664, 26.925312042236328, 27.30950355529785, 27.185056686401367, 27.608896255493164, 27.44246482849121, 26.503936767578125, 28.045215606689453], "step_mean_ms": 27.1914945602417, "step_p50_ms": 27.24728012084961, "step_p95_ms": 27.848871898651122, "sample_ms": 271.914945602417, "sample_ms_from_mean": 271.914945602417, "output_transfer_ms": 0.07620453834533691, "total_ms": 396.98559418320656, "control_frequency_hz": 2.5189830932215282, "prefill_share": 0.2758269478868059, "sample_share": 0.6849491507667399, "other_share": 0.012916856226230882, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.544804856181145, "prefix_embed_ms": 49.836097717285156, "prefill_forward_ms": 59.1912956237793, "prefill_ms": 109.02739334106445, "step_ms": [26.967552185058594, 26.51888084411621, 26.12678337097168, 28.134431838989258, 26.46873664855957, 26.867712020874023, 26.811328887939453, 27.574207305908203, 26.70902442932129, 26.738527297973633], "step_mean_ms": 26.891718482971193, "step_p50_ms": 26.774928092956543, "step_p95_ms": 27.882330799102782, "sample_ms": 268.9171848297119, "sample_ms_from_mean": 268.9171848297119, "output_transfer_ms": 0.07242150604724884, "total_ms": 393.9323704689741, "control_frequency_hz": 2.5385067970157063, "prefill_share": 0.27676677905719704, "sample_share": 0.6826481015245526, "other_share": 0.01363321813227922, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.732019320130348, "prefix_embed_ms": 52.313758850097656, "prefill_forward_ms": 59.19744110107422, "prefill_ms": 111.51119995117188, "step_ms": [27.372352600097656, 26.53615951538086, 27.066335678100586, 26.987424850463867, 27.519712448120117, 26.36444854736328, 26.041088104248047, 26.370527267456055, 26.30614471435547, 26.450048446655273], "step_mean_ms": 26.701424217224123, "step_p50_ms": 26.493103981018066, "step_p95_ms": 27.45340051651001, "sample_ms": 267.0142421722412, "sample_ms_from_mean": 267.0142421722412, "output_transfer_ms": 0.07114186882972717, "total_ms": 394.4622967392206, "control_frequency_hz": 2.53509653081268, "prefill_share": 0.28269165614297487, "sample_share": 0.6769068790084254, "other_share": 0.013014408396656848, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.45496016740799, "prefix_embed_ms": 50.47110366821289, "prefill_forward_ms": 59.238399505615234, "prefill_ms": 109.70950317382812, "step_ms": [28.265727996826172, 27.02627182006836, 26.657760620117188, 26.775423049926758, 26.745439529418945, 26.716480255126953, 26.353151321411133, 27.078527450561523, 26.52787208557129, 26.399871826171875], "step_mean_ms": 26.85465259552002, "step_p50_ms": 26.73095989227295, "step_p95_ms": 27.73148775100708, "sample_ms": 268.5465259552002, "sample_ms_from_mean": 268.5465259552002, "output_transfer_ms": 0.07082521915435791, "total_ms": 393.8958290964365, "control_frequency_hz": 2.538742292077362, "prefill_share": 0.278524155550193, "sample_share": 0.6817704228329177, "other_share": 0.012983165098693598, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.346118360757828, "prefix_embed_ms": 49.62745666503906, "prefill_forward_ms": 58.793983459472656, "prefill_ms": 108.42144012451172, "step_ms": [27.55523109436035, 26.874528884887695, 26.595712661743164, 26.480960845947266, 26.594911575317383, 26.505983352661133, 26.303359985351562, 26.09391975402832, 27.83180809020996, 26.357824325561523], "step_mean_ms": 26.719424057006837, "step_p50_ms": 26.550447463989258, "step_p95_ms": 27.707348442077638, "sample_ms": 267.19424057006836, "sample_ms_from_mean": 267.19424057006836, "output_transfer_ms": 0.08855201303958893, "total_ms": 391.11692644655704, "control_frequency_hz": 2.556780165679283, "prefill_share": 0.27720978764473553, "sample_share": 0.6831569346732895, "other_share": 0.012954119434848485, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.357417166233063, "prefix_embed_ms": 50.20387268066406, "prefill_forward_ms": 57.52627182006836, "prefill_ms": 107.73014450073242, "step_ms": [26.91868782043457, 26.660703659057617, 27.7326717376709, 27.261728286743164, 27.510847091674805, 27.955615997314453, 27.41756820678711, 27.633312225341797, 27.549280166625977, 28.17740821838379], "step_mean_ms": 27.481782341003417, "step_p50_ms": 27.53006362915039, "step_p95_ms": 28.07760171890259, "sample_ms": 274.8178234100342, "sample_ms_from_mean": 274.8178234100342, "output_transfer_ms": 0.07215142250061035, "total_ms": 398.07771518826485, "control_frequency_hz": 2.512072296051702, "prefill_share": 0.27062591144993653, "sample_share": 0.6903622406495757, "other_share": 0.012812017588958778, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.82700863480568, "prefix_embed_ms": 50.994144439697266, "prefill_forward_ms": 57.47916793823242, "prefill_ms": 108.47331237792969, "step_ms": [27.537696838378906, 27.13475227355957, 27.358400344848633, 37.52467346191406, 27.573280334472656, 31.14019203186035, 26.94758415222168, 27.26438331604004, 27.670976638793945, 27.079103469848633], "step_mean_ms": 28.72310428619385, "step_p50_ms": 27.44804859161377, "step_p95_ms": 34.65165681838989, "sample_ms": 287.2310428619385, "sample_ms_from_mean": 287.2310428619385, "output_transfer_ms": 0.06742775440216064, "total_ms": 412.3764131218195, "control_frequency_hz": 2.42496895598292, "prefill_share": 0.2630444150691173, "sample_share": 0.6965263621348003, "other_share": 0.014010552759322666, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.504690930247307, "prefix_embed_ms": 52.0819206237793, "prefill_forward_ms": 57.54060745239258, "prefill_ms": 109.62252807617188, "step_ms": [27.386560440063477, 27.238143920898438, 27.1615047454834, 27.651199340820312, 27.124256134033203, 26.407936096191406, 27.018144607543945, 27.582015991210938, 26.661663055419922, 27.285215377807617], "step_mean_ms": 27.151663970947265, "step_p50_ms": 27.199824333190918, "step_p95_ms": 27.620066833496093, "sample_ms": 271.51663970947266, "sample_ms_from_mean": 271.51663970947266, "output_transfer_ms": 0.06969645619392395, "total_ms": 396.7910222709179, "control_frequency_hz": 2.5202183110817153, "prefill_share": 0.2762727025646378, "sample_share": 0.6842812071591898, "other_share": 0.012796325556391689, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.584793984889984, "prefix_embed_ms": 52.80524826049805, "prefill_forward_ms": 57.73004913330078, "prefill_ms": 110.53529739379883, "step_ms": [27.765663146972656, 27.159456253051758, 28.681535720825195, 28.084543228149414, 28.688608169555664, 26.79737663269043, 26.822816848754883, 26.622560501098633, 26.62063980102539, 26.642911911010742], "step_mean_ms": 27.388611221313475, "step_p50_ms": 26.99113655090332, "step_p95_ms": 28.685425567626954, "sample_ms": 273.88611221313477, "sample_ms_from_mean": 273.88611221313477, "output_transfer_ms": 0.07143989205360413, "total_ms": 400.1756124198437, "control_frequency_hz": 2.49890290403517, "prefill_share": 0.27621697565575504, "sample_share": 0.6844148011843049, "other_share": 0.012739329378767752, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.455602779984474, "prefix_embed_ms": 50.95471954345703, "prefill_forward_ms": 57.589759826660156, "prefill_ms": 108.54447937011719, "step_ms": [26.78451156616211, 26.465791702270508, 26.68822479248047, 26.508544921875, 26.91913604736328, 29.4800968170166, 30.38262367248535, 27.706655502319336, 28.539871215820312, 28.089632034301758], "step_mean_ms": 27.756508827209473, "step_p50_ms": 27.31289577484131, "step_p95_ms": 29.976486587524413, "sample_ms": 277.5650882720947, "sample_ms_from_mean": 277.5650882720947, "output_transfer_ms": 0.07471628487110138, "total_ms": 401.8423780798912, "control_frequency_hz": 2.4885379306639175, "prefill_share": 0.2701170540767037, "sample_share": 0.6907312503931862, "other_share": 0.01294659711522361, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.52628830075264, "prefix_embed_ms": 52.9640007019043, "prefill_forward_ms": 57.617408752441406, "prefill_ms": 110.5814094543457, "step_ms": [27.036767959594727, 26.471040725708008, 26.422143936157227, 26.333984375, 26.669567108154297, 26.474079132080078, 27.657695770263672, 26.836448669433594, 26.51692771911621, 26.491199493408203], "step_mean_ms": 26.690985488891602, "step_p50_ms": 26.504063606262207, "step_p95_ms": 27.378278255462646, "sample_ms": 266.909854888916, "sample_ms_from_mean": 266.909854888916, "output_transfer_ms": 0.07292069494724274, "total_ms": 393.34611967206, "control_frequency_hz": 2.5422902374980048, "prefill_share": 0.28113003770455264, "sample_share": 0.6785623183761003, "other_share": 0.013361378364378278, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.69856807589531, "prefix_embed_ms": 49.76768112182617, "prefill_forward_ms": 57.54163360595703, "prefill_ms": 107.3093147277832, "step_ms": [26.90812873840332, 26.763168334960938, 26.199647903442383, 26.599199295043945, 26.21628761291504, 26.12771224975586, 28.294719696044922, 26.238239288330078, 26.425823211669922, 26.206239700317383], "step_mean_ms": 26.59791660308838, "step_p50_ms": 26.33203125, "step_p95_ms": 27.6707537651062, "sample_ms": 265.9791660308838, "sample_ms_from_mean": 265.9791660308838, "output_transfer_ms": 0.07722340524196625, "total_ms": 390.0865353643894, "control_frequency_hz": 2.5635337530065616, "prefill_share": 0.27509105031667636, "sample_share": 0.6818465697167069, "other_share": 0.015438274789360796, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.654784739017487, "prefix_embed_ms": 50.329345703125, "prefill_forward_ms": 57.22623825073242, "prefill_ms": 107.55558395385742, "step_ms": [26.389184951782227, 26.314815521240234, 26.300640106201172, 26.20742416381836, 26.17545509338379, 26.82419204711914, 26.258464813232422, 26.134431838989258, 26.187776565551758, 28.06211280822754], "step_mean_ms": 26.48544979095459, "step_p50_ms": 26.279552459716797, "step_p95_ms": 27.50504846572876, "sample_ms": 264.8544979095459, "sample_ms_from_mean": 264.8544979095459, "output_transfer_ms": 0.07503293454647064, "total_ms": 388.28885182738304, "control_frequency_hz": 2.5754022946931223, "prefill_share": 0.2769988977218232, "sample_share": 0.6821068816760393, "other_share": 0.013260623544002165, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.339237749576569, "prefix_embed_ms": 50.26668930053711, "prefill_forward_ms": 57.2149772644043, "prefill_ms": 107.4816665649414, "step_ms": [28.749120712280273, 26.940736770629883, 28.067840576171875, 26.34771156311035, 26.632959365844727, 26.291072845458984, 26.77347183227539, 27.830080032348633, 27.455488204956055, 26.6778564453125], "step_mean_ms": 27.176633834838867, "step_p50_ms": 26.857104301452637, "step_p95_ms": 28.442544651031493, "sample_ms": 271.7663383483887, "sample_ms_from_mean": 271.7663383483887, "output_transfer_ms": 0.0813361257314682, "total_ms": 395.17328329384327, "control_frequency_hz": 2.5305354442608388, "prefill_share": 0.27198616685080934, "sample_share": 0.6877143517475812, "other_share": 0.013929849860603966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.03987731039524, "prefix_embed_ms": 51.334049224853516, "prefill_forward_ms": 58.12838363647461, "prefill_ms": 109.46243286132812, "step_ms": [27.78223991394043, 27.75676727294922, 26.982431411743164, 27.15715217590332, 27.129440307617188, 27.382688522338867, 26.365856170654297, 26.21494483947754, 25.955839157104492, 26.01702308654785], "step_mean_ms": 26.874438285827637, "step_p50_ms": 27.055935859680176, "step_p95_ms": 27.770777225494385, "sample_ms": 268.74438285827637, "sample_ms_from_mean": 268.74438285827637, "output_transfer_ms": 0.0726897269487381, "total_ms": 394.7498928755522, "control_frequency_hz": 2.533249579158866, "prefill_share": 0.2772956619796651, "sample_share": 0.6807965947770378, "other_share": 0.013756837472570803, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.45805960893631, "prefix_embed_ms": 50.20025634765625, "prefill_forward_ms": 57.16070556640625, "prefill_ms": 107.3609619140625, "step_ms": [27.278528213500977, 26.468576431274414, 26.651391983032227, 26.97747230529785, 27.91971206665039, 26.763263702392578, 26.751007080078125, 26.953311920166016, 28.423583984375, 27.675840377807617], "step_mean_ms": 27.18626880645752, "step_p50_ms": 26.965392112731934, "step_p95_ms": 28.196841621398924, "sample_ms": 271.8626880645752, "sample_ms_from_mean": 271.8626880645752, "output_transfer_ms": 0.07435493171215057, "total_ms": 395.0125351548195, "control_frequency_hz": 2.5315652314883232, "prefill_share": 0.2717912784007827, "sample_share": 0.6882381288432341, "other_share": 0.013307098301255515, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.010147631168365, "prefix_embed_ms": 50.426273345947266, "prefill_forward_ms": 57.10745620727539, "prefill_ms": 107.53372955322266, "step_ms": [27.651775360107422, 26.26038360595703, 26.428607940673828, 26.427488327026367, 26.420671463012695, 26.313472747802734, 27.293376922607422, 26.7096004486084, 26.8887996673584, 27.00284767150879], "step_mean_ms": 26.739702415466308, "step_p50_ms": 26.569104194641113, "step_p95_ms": 27.49049606323242, "sample_ms": 267.3970241546631, "sample_ms_from_mean": 267.3970241546631, "output_transfer_ms": 0.08215382695198059, "total_ms": 391.31115190684795, "control_frequency_hz": 2.5555111198007747, "prefill_share": 0.2748036416269097, "sample_share": 0.6833360686288779, "other_share": 0.013513790023803622, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.762317106127739, "prefix_embed_ms": 51.150047302246094, "prefill_forward_ms": 56.96307373046875, "prefill_ms": 108.11312103271484, "step_ms": [28.035232543945312, 26.860607147216797, 26.742944717407227, 27.521728515625, 26.71788787841797, 27.327167510986328, 28.876863479614258, 27.209535598754883, 27.167423248291016, 26.597824096679688], "step_mean_ms": 27.305721473693847, "step_p50_ms": 27.18847942352295, "step_p95_ms": 28.49812955856323, "sample_ms": 273.0572147369385, "sample_ms_from_mean": 273.0572147369385, "output_transfer_ms": 0.08323788642883301, "total_ms": 397.66920171678066, "control_frequency_hz": 2.5146528714894, "prefill_share": 0.2718669702505975, "sample_share": 0.6866441091191401, "other_share": 0.01421611462533387, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.062279343605042, "prefix_embed_ms": 51.78006362915039, "prefill_forward_ms": 57.20780944824219, "prefill_ms": 108.98787307739258, "step_ms": [35.57660675048828, 28.531103134155273, 30.100128173828125, 42.48489761352539, 41.7097282409668, 42.19148635864258, 32.19247817993164, 26.12335968017578, 26.08892822265625, 26.410688400268555], "step_mean_ms": 33.140940475463864, "step_p50_ms": 31.146303176879883, "step_p95_ms": 42.35286254882813, "sample_ms": 331.4094047546387, "sample_ms_from_mean": 331.4094047546387, "output_transfer_ms": 0.0774972140789032, "total_ms": 457.68779143691063, "control_frequency_hz": 2.1848955089243267, "prefill_share": 0.2381271144140096, "sample_share": 0.7240949200636945, "other_share": 0.01343871775099178, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.365786030888557, "prefix_embed_ms": 52.35270309448242, "prefill_forward_ms": 56.9804801940918, "prefill_ms": 109.33318328857422, "step_ms": [27.049535751342773, 26.5677433013916, 26.53276824951172, 26.692256927490234, 28.09734344482422, 27.116064071655273, 27.204511642456055, 27.25926399230957, 27.194496154785156, 28.044288635253906], "step_mean_ms": 27.17582721710205, "step_p50_ms": 27.155280113220215, "step_p95_ms": 28.07346878051758, "sample_ms": 271.7582721710205, "sample_ms_from_mean": 271.7582721710205, "output_transfer_ms": 0.08221529424190521, "total_ms": 396.88405208289623, "control_frequency_hz": 2.5196275707020153, "prefill_share": 0.27547890300650846, "sample_share": 0.6847296351284455, "other_share": 0.01346638966751612, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.980259627103806, "prefix_embed_ms": 52.22633743286133, "prefill_forward_ms": 59.34796905517578, "prefill_ms": 111.57430648803711, "step_ms": [27.616031646728516, 27.196096420288086, 27.78179168701172, 27.344831466674805, 26.776447296142578, 26.727680206298828, 26.46259117126465, 27.459264755249023, 27.368864059448242, 27.104703903198242], "step_mean_ms": 27.18383026123047, "step_p50_ms": 27.270463943481445, "step_p95_ms": 27.70719966888428, "sample_ms": 271.8383026123047, "sample_ms_from_mean": 271.8383026123047, "output_transfer_ms": 0.0739172101020813, "total_ms": 399.97008070349693, "control_frequency_hz": 2.5001870095911327, "prefill_share": 0.27895663168553003, "sample_share": 0.6796465929005875, "other_share": 0.013759266083777186, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.195555329322815, "prefix_embed_ms": 50.93190383911133, "prefill_forward_ms": 59.31520080566406, "prefill_ms": 110.24710464477539, "step_ms": [28.932960510253906, 26.90140724182129, 26.833791732788086, 27.128704071044922, 26.916223526000977, 26.78505516052246, 27.041696548461914, 26.68320083618164, 28.333696365356445, 26.757471084594727], "step_mean_ms": 27.231420707702636, "step_p50_ms": 26.908815383911133, "step_p95_ms": 28.663291645050048, "sample_ms": 272.31420707702637, "sample_ms_from_mean": 272.31420707702637, "output_transfer_ms": 0.07306970655918121, "total_ms": 399.3514124304056, "control_frequency_hz": 2.504060255888712, "prefill_share": 0.2760653930677859, "sample_share": 0.6818911830554303, "other_share": 0.013826107785919205, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.514194145798683, "prefix_embed_ms": 50.42860794067383, "prefill_forward_ms": 58.680320739746094, "prefill_ms": 109.10892868041992, "step_ms": [26.88323211669922, 26.737184524536133, 26.145248413085938, 28.809120178222656, 26.72150421142578, 26.923200607299805, 26.133119583129883, 26.230079650878906, 26.268512725830078, 26.89468765258789], "step_mean_ms": 26.774588966369627, "step_p50_ms": 26.729344367980957, "step_p95_ms": 27.96045637130737, "sample_ms": 267.7458896636963, "sample_ms_from_mean": 267.7458896636963, "output_transfer_ms": 0.07651746273040771, "total_ms": 392.6457650959492, "control_frequency_hz": 2.5468248709001973, "prefill_share": 0.2778813332005693, "sample_share": 0.6819018908768018, "other_share": 0.01324408819749555, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.512970387935638, "prefix_embed_ms": 52.6192626953125, "prefill_forward_ms": 57.766910552978516, "prefill_ms": 110.38617324829102, "step_ms": [26.94803237915039, 26.555072784423828, 26.414751052856445, 28.69487953186035, 26.623584747314453, 26.350208282470703, 26.30067253112793, 26.562047958374023, 26.827167510986328, 26.224096298217773], "step_mean_ms": 26.750051307678223, "step_p50_ms": 26.558560371398926, "step_p95_ms": 27.908798313140867, "sample_ms": 267.5005130767822, "sample_ms_from_mean": 267.5005130767822, "output_transfer_ms": 0.07501617074012756, "total_ms": 393.73114332556725, "control_frequency_hz": 2.5398041708199925, "prefill_share": 0.2803592632168678, "sample_share": 0.6793989188088995, "other_share": 0.01335040555192197, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.875191539525986, "prefix_embed_ms": 52.51420974731445, "prefill_forward_ms": 57.58259201049805, "prefill_ms": 110.0968017578125, "step_ms": [26.66806411743164, 26.41481590270996, 26.17731285095215, 26.487871170043945, 26.446048736572266, 27.57360076904297, 26.224063873291016, 25.9932804107666, 26.721824645996094, 26.38140869140625], "step_mean_ms": 26.50882911682129, "step_p50_ms": 26.430432319641113, "step_p95_ms": 27.190301513671873, "sample_ms": 265.0882911682129, "sample_ms_from_mean": 265.0882911682129, "output_transfer_ms": 0.07506459951400757, "total_ms": 391.1450821906328, "control_frequency_hz": 2.5565961213149775, "prefill_share": 0.28147305634320746, "sample_share": 0.6777236970066686, "other_share": 0.012807864277648868, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.20442321896553, "prefix_embed_ms": 49.93849563598633, "prefill_forward_ms": 57.188350677490234, "prefill_ms": 107.12684631347656, "step_ms": [26.45155143737793, 26.40239906311035, 26.154848098754883, 26.208127975463867, 26.409151077270508, 29.430591583251953, 27.123903274536133, 26.97555160522461, 26.793312072753906, 27.761600494384766], "step_mean_ms": 26.97110366821289, "step_p50_ms": 26.622431755065918, "step_p95_ms": 28.679545593261718, "sample_ms": 269.7110366821289, "sample_ms_from_mean": 269.7110366821289, "output_transfer_ms": 0.07031112909317017, "total_ms": 392.1618964523077, "control_frequency_hz": 2.5499672687390063, "prefill_share": 0.2731699517025991, "sample_share": 0.6877543155570941, "other_share": 0.01287549645776867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.319188237190247, "prefix_embed_ms": 51.8251838684082, "prefill_forward_ms": 56.94460678100586, "prefill_ms": 108.76979064941406, "step_ms": [26.73209571838379, 28.389888763427734, 27.311199188232422, 26.6680965423584, 26.711872100830078, 26.669631958007812, 26.208288192749023, 26.75129508972168, 26.39779281616211, 28.558015823364258], "step_mean_ms": 27.03981761932373, "step_p50_ms": 26.721983909606934, "step_p95_ms": 28.48235864639282, "sample_ms": 270.3981761932373, "sample_ms_from_mean": 270.3981761932373, "output_transfer_ms": 0.0673830509185791, "total_ms": 394.62313428521156, "control_frequency_hz": 2.534063295126676, "prefill_share": 0.27562953410329294, "sample_share": 0.6852060933604784, "other_share": 0.012844143472815438, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.936023831367493, "prefix_embed_ms": 55.94755172729492, "prefill_forward_ms": 57.975807189941406, "prefill_ms": 113.92335891723633, "step_ms": [28.320768356323242, 27.549823760986328, 27.507583618164062, 27.614879608154297, 26.77881622314453, 27.763967514038086, 26.821184158325195, 26.65407943725586, 26.92620849609375, 26.463455200195312], "step_mean_ms": 27.240076637268068, "step_p50_ms": 27.216896057128906, "step_p95_ms": 28.07020797729492, "sample_ms": 272.40076637268066, "sample_ms_from_mean": 272.40076637268066, "output_transfer_ms": 0.07105059921741486, "total_ms": 403.8527850061655, "control_frequency_hz": 2.476149817772665, "prefill_share": 0.28209130442296465, "sample_share": 0.6745051080148475, "other_share": 0.013672272398912163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.338775977492332, "prefix_embed_ms": 52.013214111328125, "prefill_forward_ms": 58.451969146728516, "prefill_ms": 110.46518325805664, "step_ms": [27.26198387145996, 26.815711975097656, 26.849472045898438, 27.316320419311523, 28.25904083251953, 27.359039306640625, 26.55414390563965, 26.6628475189209, 26.638303756713867, 26.660064697265625], "step_mean_ms": 27.037692832946778, "step_p50_ms": 26.832592010498047, "step_p95_ms": 27.854040145874023, "sample_ms": 270.3769283294678, "sample_ms_from_mean": 270.3769283294678, "output_transfer_ms": 0.0730566680431366, "total_ms": 397.5614421069622, "control_frequency_hz": 2.5153344718247457, "prefill_share": 0.27785688338542763, "sample_share": 0.6800884082131989, "other_share": 0.013350132361363055, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.265356093645096, "prefix_embed_ms": 50.0846061706543, "prefill_forward_ms": 57.03987121582031, "prefill_ms": 107.12447738647461, "step_ms": [27.522560119628906, 27.15407943725586, 26.971904754638672, 26.88287925720215, 27.214431762695312, 26.891616821289062, 28.244831085205078, 28.797151565551758, 28.76691246032715, 40.96080017089844], "step_mean_ms": 28.94071674346924, "step_p50_ms": 27.36849594116211, "step_p95_ms": 35.48715829849242, "sample_ms": 289.4071674346924, "sample_ms_from_mean": 289.4071674346924, "output_transfer_ms": 0.08340924978256226, "total_ms": 413.25559094548225, "control_frequency_hz": 2.4198099721097845, "prefill_share": 0.2592208786368404, "sample_share": 0.7003103497585148, "other_share": 0.013006916055484683, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.768855154514313, "prefix_embed_ms": 50.89868927001953, "prefill_forward_ms": 57.06854248046875, "prefill_ms": 107.96723175048828, "step_ms": [27.861055374145508, 26.577760696411133, 26.619136810302734, 26.38060760498047, 26.64851188659668, 26.67535972595215, 26.88982391357422, 27.30451202392578, 27.315488815307617, 27.21798324584961], "step_mean_ms": 26.94902400970459, "step_p50_ms": 26.782591819763184, "step_p95_ms": 27.615550422668456, "sample_ms": 269.4902400970459, "sample_ms_from_mean": 269.4902400970459, "output_transfer_ms": 0.07985904812812805, "total_ms": 395.56749165058136, "control_frequency_hz": 2.528013603512533, "prefill_share": 0.2729426305988246, "sample_share": 0.6812749929791907, "other_share": 0.01582866573357239, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.476438492536545, "prefix_embed_ms": 51.80201721191406, "prefill_forward_ms": 57.05420684814453, "prefill_ms": 108.8562240600586, "step_ms": [28.490528106689453, 27.823104858398438, 27.44316864013672, 28.133695602416992, 27.11235237121582, 27.755935668945312, 26.916927337646484, 27.32464027404785, 27.328767776489258, 28.851871490478516], "step_mean_ms": 27.718099212646486, "step_p50_ms": 27.599552154541016, "step_p95_ms": 28.689266967773438, "sample_ms": 277.18099212646484, "sample_ms_from_mean": 277.18099212646484, "output_transfer_ms": 0.07832050323486328, "total_ms": 402.89259515702724, "control_frequency_hz": 2.482051077683, "prefill_share": 0.2701867082407705, "sample_share": 0.6879773802207352, "other_share": 0.013156409520672586, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.578448116779327, "prefix_embed_ms": 52.828670501708984, "prefill_forward_ms": 56.978431701660156, "prefill_ms": 109.80710220336914, "step_ms": [28.525535583496094, 27.7739200592041, 27.04412841796875, 27.874431610107422, 27.341760635375977, 27.280927658081055, 26.941375732421875, 26.79324722290039, 27.949663162231445, 27.53708839416504], "step_mean_ms": 27.506207847595213, "step_p50_ms": 27.439424514770508, "step_p95_ms": 28.266392993927003, "sample_ms": 275.06207847595215, "sample_ms_from_mean": 275.06207847595215, "output_transfer_ms": 0.08225813508033752, "total_ms": 401.8960613757372, "control_frequency_hz": 2.4882055240274887, "prefill_share": 0.27322263827987414, "sample_share": 0.6844109831143468, "other_share": 0.01335214489583997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.20946928858757, "prefix_embed_ms": 51.119041442871094, "prefill_forward_ms": 59.36640167236328, "prefill_ms": 110.48544311523438, "step_ms": [29.213151931762695, 28.503999710083008, 28.0263671875, 27.410816192626953, 27.428415298461914, 29.205440521240234, 26.82601547241211, 26.56108856201172, 26.563295364379883, 26.765151977539062], "step_mean_ms": 27.65037422180176, "step_p50_ms": 27.419615745544434, "step_p95_ms": 29.20968179702759, "sample_ms": 276.5037422180176, "sample_ms_from_mean": 276.5037422180176, "output_transfer_ms": 0.08028000593185425, "total_ms": 403.6422334611416, "control_frequency_hz": 2.477441449635298, "prefill_share": 0.2737212163550045, "sample_share": 0.6850218319501902, "other_share": 0.013287258836571992, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.437851935625076, "prefix_embed_ms": 51.21148681640625, "prefill_forward_ms": 58.17958450317383, "prefill_ms": 109.39107131958008, "step_ms": [27.642879486083984, 26.861984252929688, 27.38755226135254, 26.676895141601562, 26.79145622253418, 27.123199462890625, 28.27516746520996, 26.964031219482422, 26.94256019592285, 26.78054428100586], "step_mean_ms": 27.144626998901366, "step_p50_ms": 26.953295707702637, "step_p95_ms": 27.99063787460327, "sample_ms": 271.4462699890137, "sample_ms_from_mean": 271.4462699890137, "output_transfer_ms": 0.08497573435306549, "total_ms": 397.7375663816929, "control_frequency_hz": 2.5142206432679277, "prefill_share": 0.27503328970088237, "sample_share": 0.6824758155444576, "other_share": 0.013519963557982151, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.289814487099648, "prefix_embed_ms": 50.92931365966797, "prefill_forward_ms": 57.48019027709961, "prefill_ms": 108.40950393676758, "step_ms": [29.774751663208008, 26.648895263671875, 26.69068717956543, 26.439104080200195, 26.524351119995117, 27.01430320739746, 27.316768646240234, 27.334304809570312, 29.066944122314453, 27.868640899658203], "step_mean_ms": 27.46787509918213, "step_p50_ms": 27.165535926818848, "step_p95_ms": 29.456238269805908, "sample_ms": 274.6787509918213, "sample_ms_from_mean": 274.6787509918213, "output_transfer_ms": 0.07042102515697479, "total_ms": 400.3278333693743, "control_frequency_hz": 2.4979527193586875, "prefill_share": 0.2708018151631749, "sample_share": 0.6861345329900678, "other_share": 0.01468632065636075, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.101942509412766, "prefix_embed_ms": 50.567169189453125, "prefill_forward_ms": 57.445377349853516, "prefill_ms": 108.01254653930664, "step_ms": [26.903104782104492, 27.970783233642578, 26.565568923950195, 26.67136001586914, 26.375232696533203, 26.13599967956543, 26.298303604125977, 26.86947250366211, 26.508928298950195, 26.865184783935547], "step_mean_ms": 26.716393852233885, "step_p50_ms": 26.618464469909668, "step_p95_ms": 27.490327930450437, "sample_ms": 267.16393852233887, "sample_ms_from_mean": 267.16393852233887, "output_transfer_ms": 0.08254870772361755, "total_ms": 391.5343042463064, "control_frequency_hz": 2.554054623451129, "prefill_share": 0.2758699438794464, "sample_share": 0.6823512924023928, "other_share": 0.013212962214085055, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 13.208700343966484, "prefix_embed_ms": 50.79497528076172, "prefill_forward_ms": 57.54060745239258, "prefill_ms": 108.3355827331543, "step_ms": [27.269695281982422, 27.035680770874023, 26.776575088500977, 28.7126407623291, 27.267135620117188, 26.59667205810547, 26.64124870300293, 26.792736053466797, 26.42076873779297, 26.495168685913086], "step_mean_ms": 27.000832176208498, "step_p50_ms": 26.784655570983887, "step_p95_ms": 28.063315296173094, "sample_ms": 270.00832176208496, "sample_ms_from_mean": 270.00832176208496, "output_transfer_ms": 0.07358565926551819, "total_ms": 396.96221612393856, "control_frequency_hz": 2.519131442191925, "prefill_share": 0.2729115727712736, "sample_share": 0.6801864530043424, "other_share": 0.013442149929456509, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.143414303660393, "prefix_embed_ms": 52.500640869140625, "prefill_forward_ms": 57.56825637817383, "prefill_ms": 110.06889724731445, "step_ms": [27.867328643798828, 27.365631103515625, 27.09270477294922, 26.614240646362305, 28.437856674194336, 27.219072341918945, 26.9682559967041, 26.465696334838867, 28.285503387451172, 27.382720947265625], "step_mean_ms": 27.3699010848999, "step_p50_ms": 27.292351722717285, "step_p95_ms": 28.36929769515991, "sample_ms": 273.699010848999, "sample_ms_from_mean": 273.699010848999, "output_transfer_ms": 0.07199496030807495, "total_ms": 400.149816647172, "control_frequency_hz": 2.4990639965274304, "prefill_share": 0.2750692182482407, "sample_share": 0.683991343897904, "other_share": 0.012911412355951515, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.495467275381088, "prefix_embed_ms": 51.18803024291992, "prefill_forward_ms": 57.65836715698242, "prefill_ms": 108.84639739990234, "step_ms": [29.632831573486328, 27.181791305541992, 27.049856185913086, 26.90559959411621, 26.796480178833008, 26.665504455566406, 26.503904342651367, 26.360191345214844, 26.360767364501953, 27.00022315979004], "step_mean_ms": 27.045714950561525, "step_p50_ms": 26.85103988647461, "step_p95_ms": 28.529863452911375, "sample_ms": 270.45714950561523, "sample_ms_from_mean": 270.45714950561523, "output_transfer_ms": 0.0704936683177948, "total_ms": 396.17918245494366, "control_frequency_hz": 2.5241104133827807, "prefill_share": 0.27474032513629393, "sample_share": 0.6826637074409471, "other_share": 0.013402204963990126, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.01190596818924, "prefix_embed_ms": 51.1497917175293, "prefill_forward_ms": 57.63993453979492, "prefill_ms": 108.78972625732422, "step_ms": [27.51318359375, 26.896223068237305, 26.562143325805664, 26.593631744384766, 28.612831115722656, 26.734975814819336, 26.87958335876465, 27.005632400512695, 27.133920669555664, 27.18435287475586], "step_mean_ms": 27.11164779663086, "step_p50_ms": 26.950927734375, "step_p95_ms": 28.11798973083496, "sample_ms": 271.1164779663086, "sample_ms_from_mean": 271.1164779663086, "output_transfer_ms": 0.08267536759376526, "total_ms": 396.23293839395046, "control_frequency_hz": 2.523767973589718, "prefill_share": 0.2745600269838273, "sample_share": 0.6842350842038121, "other_share": 0.013204739756725202, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.478377506136894, "prefix_embed_ms": 51.61337661743164, "prefill_forward_ms": 58.53696060180664, "prefill_ms": 110.15033721923828, "step_ms": [26.984352111816406, 26.813119888305664, 26.500831604003906, 26.808767318725586, 26.641183853149414, 29.0664005279541, 26.41360092163086, 26.50227165222168, 26.709632873535156, 26.287296295166016], "step_mean_ms": 26.872745704650878, "step_p50_ms": 26.675408363342285, "step_p95_ms": 28.129478740692136, "sample_ms": 268.7274570465088, "sample_ms_from_mean": 268.7274570465088, "output_transfer_ms": 0.06736069917678833, "total_ms": 395.9535714238882, "control_frequency_hz": 2.5255486303707304, "prefill_share": 0.27819003329892134, "sample_share": 0.6786842610868196, "other_share": 0.013966382303210163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.888287797570229, "prefix_embed_ms": 50.36671829223633, "prefill_forward_ms": 57.55596923828125, "prefill_ms": 107.92268753051758, "step_ms": [27.122432708740234, 26.672639846801758, 26.87068748474121, 26.94915199279785, 26.41539192199707, 27.402687072753906, 26.66681671142578, 26.456096649169922, 28.008928298950195, 26.933792114257812], "step_mean_ms": 26.949862480163574, "step_p50_ms": 26.90223979949951, "step_p95_ms": 27.736119747161865, "sample_ms": 269.49862480163574, "sample_ms_from_mean": 269.49862480163574, "output_transfer_ms": 0.08450448513031006, "total_ms": 393.8390351831913, "control_frequency_hz": 2.5391083936991095, "prefill_share": 0.2740274017793034, "sample_share": 0.6842862203242004, "other_share": 0.01382526890917446, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.09074056148529, "prefix_embed_ms": 51.591102600097656, "prefill_forward_ms": 57.592830657958984, "prefill_ms": 109.18393325805664, "step_ms": [27.713024139404297, 27.32352066040039, 28.56572723388672, 27.33465576171875, 26.901439666748047, 27.986719131469727, 28.281824111938477, 27.09868812561035, 27.603551864624023, 28.67535972595215], "step_mean_ms": 27.748451042175294, "step_p50_ms": 27.65828800201416, "step_p95_ms": 28.626025104522704, "sample_ms": 277.48451042175293, "sample_ms_from_mean": 277.48451042175293, "output_transfer_ms": 0.08223950862884521, "total_ms": 403.5872668027878, "control_frequency_hz": 2.4777788653293866, "prefill_share": 0.2705336422603471, "sample_share": 0.6875452553792913, "other_share": 0.014236928479886286, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.132152915000916, "prefix_embed_ms": 52.99884796142578, "prefill_forward_ms": 57.49657440185547, "prefill_ms": 110.49542236328125, "step_ms": [26.739967346191406, 27.06928062438965, 27.18592071533203, 28.079296112060547, 26.997631072998047, 27.358688354492188, 27.61724853515625, 27.740095138549805, 26.77916717529297, 27.150367736816406], "step_mean_ms": 27.27176628112793, "step_p50_ms": 27.16814422607422, "step_p95_ms": 27.92665567398071, "sample_ms": 272.7176628112793, "sample_ms_from_mean": 272.7176628112793, "output_transfer_ms": 0.07601268589496613, "total_ms": 400.76209232211113, "control_frequency_hz": 2.4952459804912226, "prefill_share": 0.27571325851465744, "sample_share": 0.6804976519388052, "other_share": 0.013326713401730667, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.305918917059898, "prefix_embed_ms": 52.94188690185547, "prefill_forward_ms": 59.725791931152344, "prefill_ms": 112.66767883300781, "step_ms": [27.182815551757812, 27.251712799072266, 27.17180824279785, 27.02239990234375, 27.17513656616211, 26.486495971679688, 28.576032638549805, 28.616352081298828, 26.785280227661133, 27.326784133911133], "step_mean_ms": 27.359481811523438, "step_p50_ms": 27.17897605895996, "step_p95_ms": 28.598208332061766, "sample_ms": 273.5948181152344, "sample_ms_from_mean": 273.5948181152344, "output_transfer_ms": 0.06807409226894379, "total_ms": 403.04338932037354, "control_frequency_hz": 2.481122446112406, "prefill_share": 0.2795423069039593, "sample_share": 0.6788222443657491, "other_share": 0.013415179372920163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.866427958011627, "prefix_embed_ms": 50.743038177490234, "prefill_forward_ms": 57.74540710449219, "prefill_ms": 108.48844528198242, "step_ms": [27.723840713500977, 28.439552307128906, 27.313535690307617, 27.15068817138672, 26.993824005126953, 26.57846450805664, 26.661983489990234, 26.575647354125977, 26.657920837402344, 29.722463607788086], "step_mean_ms": 27.381792068481445, "step_p50_ms": 27.072256088256836, "step_p95_ms": 29.145153522491455, "sample_ms": 273.81792068481445, "sample_ms_from_mean": 273.81792068481445, "output_transfer_ms": 0.07701106369495392, "total_ms": 399.8543694615364, "control_frequency_hz": 2.500910522365053, "prefill_share": 0.27131989436073517, "sample_share": 0.684794119052772, "other_share": 0.014016514263881457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.577319353818893, "prefix_embed_ms": 50.992286682128906, "prefill_forward_ms": 57.90822219848633, "prefill_ms": 108.90050888061523, "step_ms": [27.372095108032227, 26.819551467895508, 28.03001594543457, 27.604032516479492, 26.765727996826172, 26.502016067504883, 26.5980167388916, 26.340063095092773, 26.227392196655273, 26.381183624267578], "step_mean_ms": 26.86400947570801, "step_p50_ms": 26.681872367858887, "step_p95_ms": 27.838323402404786, "sample_ms": 268.6400947570801, "sample_ms_from_mean": 268.6400947570801, "output_transfer_ms": 0.07952004671096802, "total_ms": 394.4198116660118, "control_frequency_hz": 2.53536959965587, "prefill_share": 0.27610303960296595, "sample_share": 0.6811019294957731, "other_share": 0.013240634657086778, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.446347460150719, "prefix_embed_ms": 52.04064178466797, "prefill_forward_ms": 57.46380615234375, "prefill_ms": 109.50444793701172, "step_ms": [27.9486083984375, 27.165727615356445, 28.796192169189453, 29.33888053894043, 27.248607635498047, 26.76950454711914, 27.008480072021484, 26.749183654785156, 27.112512588500977, 27.09564781188965], "step_mean_ms": 27.523334503173828, "step_p50_ms": 27.13912010192871, "step_p95_ms": 29.09467077255249, "sample_ms": 275.2333450317383, "sample_ms_from_mean": 275.2333450317383, "output_transfer_ms": 0.06520003080368042, "total_ms": 401.6179796308279, "control_frequency_hz": 2.4899283665517467, "prefill_share": 0.27265823118195437, "sample_share": 0.6853113132154494, "other_share": 0.01336752696196127, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.259851977229118, "prefix_embed_ms": 51.59260940551758, "prefill_forward_ms": 57.47404861450195, "prefill_ms": 109.06665802001953, "step_ms": [27.946847915649414, 27.001792907714844, 26.751359939575195, 26.881824493408203, 27.19219207763672, 27.161823272705078, 27.1529598236084, 29.1297607421875, 26.568544387817383, 26.868608474731445], "step_mean_ms": 27.26557140350342, "step_p50_ms": 27.07737636566162, "step_p95_ms": 28.59744997024536, "sample_ms": 272.6557140350342, "sample_ms_from_mean": 272.6557140350342, "output_transfer_ms": 0.08520297706127167, "total_ms": 398.67344312369823, "control_frequency_hz": 2.5083185681112083, "prefill_share": 0.2735739234734502, "sample_share": 0.683907390215696, "other_share": 0.01406167431276512, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.770635843276978, "prefix_embed_ms": 51.351680755615234, "prefill_forward_ms": 57.50374221801758, "prefill_ms": 108.85542297363281, "step_ms": [27.69887924194336, 30.0479679107666, 28.264511108398438, 28.449472427368164, 27.86844825744629, 27.446815490722656, 27.770496368408203, 27.543296813964844, 27.239999771118164, 29.225343704223633], "step_mean_ms": 28.155523109436036, "step_p50_ms": 27.819472312927246, "step_p95_ms": 29.677787017822265, "sample_ms": 281.55523109436035, "sample_ms_from_mean": 281.55523109436035, "output_transfer_ms": 0.10573305189609528, "total_ms": 407.6928198337555, "control_frequency_hz": 2.4528271074476344, "prefill_share": 0.26700353226240453, "sample_share": 0.6906063030719302, "other_share": 0.01325948510153692, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.099212035536766, "prefix_embed_ms": 55.85718536376953, "prefill_forward_ms": 57.48428726196289, "prefill_ms": 113.34147262573242, "step_ms": [26.722240447998047, 26.84169578552246, 26.744352340698242, 27.20319938659668, 29.480159759521484, 27.249248504638672, 26.627872467041016, 27.492704391479492, 27.322784423828125, 27.121183395385742], "step_mean_ms": 27.280544090270997, "step_p50_ms": 27.16219139099121, "step_p95_ms": 28.585804843902586, "sample_ms": 272.80544090270996, "sample_ms_from_mean": 272.80544090270996, "output_transfer_ms": 0.07941201329231262, "total_ms": 403.6838114261627, "control_frequency_hz": 2.4771862821724984, "prefill_share": 0.2807679411896941, "sample_share": 0.6757898959062133, "other_share": 0.01327344247459706, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.682316660881042, "prefix_embed_ms": 53.217247009277344, "prefill_forward_ms": 57.562110900878906, "prefill_ms": 110.77935791015625, "step_ms": [28.102624893188477, 27.38934326171875, 27.498559951782227, 26.568960189819336, 26.752031326293945, 28.607839584350586, 26.51024055480957, 27.156639099121094, 28.104352951049805, 28.25212860107422], "step_mean_ms": 27.4942720413208, "step_p50_ms": 27.44395160675049, "step_p95_ms": 28.44776964187622, "sample_ms": 274.942720413208, "sample_ms_from_mean": 274.942720413208, "output_transfer_ms": 0.07479451596736908, "total_ms": 402.67275646328926, "control_frequency_hz": 2.4834061504013563, "prefill_share": 0.2751101387715952, "sample_share": 0.6827944428822412, "other_share": 0.012897736138625701, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.387309059500694, "prefix_embed_ms": 52.2276496887207, "prefill_forward_ms": 60.128257751464844, "prefill_ms": 112.35590744018555, "step_ms": [26.92393684387207, 26.24883270263672, 27.653535842895508, 27.101055145263672, 27.331104278564453, 28.81350326538086, 26.469472885131836, 26.304096221923828, 27.00124740600586, 27.534303665161133], "step_mean_ms": 27.138108825683595, "step_p50_ms": 27.051151275634766, "step_p95_ms": 28.29151792526245, "sample_ms": 271.38108825683594, "sample_ms_from_mean": 271.38108825683594, "output_transfer_ms": 0.08612871170043945, "total_ms": 400.4944767802954, "control_frequency_hz": 2.496913335832552, "prefill_share": 0.2805429636469672, "sample_share": 0.6776150583612445, "other_share": 0.013193798213031268, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.127173900604248, "prefix_embed_ms": 52.19327926635742, "prefill_forward_ms": 58.032127380371094, "prefill_ms": 110.22540664672852, "step_ms": [26.760704040527344, 26.634687423706055, 28.26892852783203, 27.01203155517578, 29.434303283691406, 27.53980827331543, 27.428735733032227, 27.562816619873047, 27.6790714263916, 28.41641616821289], "step_mean_ms": 27.67375030517578, "step_p50_ms": 27.55131244659424, "step_p95_ms": 28.976254081726072, "sample_ms": 276.7375030517578, "sample_ms_from_mean": 276.7375030517578, "output_transfer_ms": 0.0879243016242981, "total_ms": 404.06618267297745, "control_frequency_hz": 2.474842099838207, "prefill_share": 0.27279047684110985, "sample_share": 0.6848816231565945, "other_share": 0.014572302817600663, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.236712500452995, "prefix_embed_ms": 53.858463287353516, "prefill_forward_ms": 57.53446578979492, "prefill_ms": 111.39292907714844, "step_ms": [28.418272018432617, 27.603328704833984, 28.295135498046875, 28.415103912353516, 27.295007705688477, 26.939359664916992, 27.508447647094727, 26.783775329589844, 26.992544174194336, 26.858112335205078], "step_mean_ms": 27.510908699035646, "step_p50_ms": 27.4017276763916, "step_p95_ms": 28.416846370697023, "sample_ms": 275.10908699035645, "sample_ms_from_mean": 275.10908699035645, "output_transfer_ms": 0.07177330553531647, "total_ms": 404.268529266119, "control_frequency_hz": 2.4736033789603424, "prefill_share": 0.2755419257575241, "sample_share": 0.6805107671620404, "other_share": 0.013500995000857307, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5387, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 13.381965458393097, "prefix_embed_ms": 53.01433563232422, "prefill_forward_ms": 57.596927642822266, "prefill_ms": 110.61126327514648, "step_ms": [29.44060707092285, 27.650592803955078, 30.36412811279297, 27.1561279296875, 27.452640533447266, 28.77519989013672, 26.635391235351562, 27.549823760986328, 27.208736419677734, 27.97772789001465], "step_mean_ms": 28.021097564697264, "step_p50_ms": 27.600208282470703, "step_p95_ms": 29.948543643951414, "sample_ms": 280.21097564697266, "sample_ms_from_mean": 280.21097564697266, "output_transfer_ms": 0.08357316255569458, "total_ms": 409.85699743032455, "control_frequency_hz": 2.439875386463298, "prefill_share": 0.2698776987306416, "sample_share": 0.6836798624979151, "other_share": 0.013588202524719336, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.774794802069664, "prefix_embed_ms": 50.710689544677734, "prefill_forward_ms": 57.859073638916016, "prefill_ms": 108.56976318359375, "step_ms": [30.770111083984375, 27.102783203125, 26.7139835357666, 26.58095932006836, 28.323808670043945, 27.285951614379883, 26.49292755126953, 26.498655319213867, 27.145408630371094, 29.53343963623047], "step_mean_ms": 27.644802856445313, "step_p50_ms": 27.124095916748047, "step_p95_ms": 30.213608932495116, "sample_ms": 276.4480285644531, "sample_ms_from_mean": 276.4480285644531, "output_transfer_ms": 0.08286908268928528, "total_ms": 400.12180618941784, "control_frequency_hz": 2.49923894306975, "prefill_share": 0.2713417801882979, "sample_share": 0.6909096787231399, "other_share": 0.013111883620080407, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.017110034823418, "prefix_embed_ms": 51.786529541015625, "prefill_forward_ms": 57.63071823120117, "prefill_ms": 109.4172477722168, "step_ms": [27.69481658935547, 27.29497528076172, 27.297983169555664, 27.07756805419922, 26.973663330078125, 26.64803123474121, 26.591360092163086, 26.484384536743164, 26.69055938720703, 27.836639404296875], "step_mean_ms": 27.058998107910156, "step_p50_ms": 27.025615692138672, "step_p95_ms": 27.772819137573244, "sample_ms": 270.58998107910156, "sample_ms_from_mean": 270.58998107910156, "output_transfer_ms": 0.0723171979188919, "total_ms": 395.40933817625046, "control_frequency_hz": 2.529024743351555, "prefill_share": 0.2767189269653641, "sample_share": 0.6843287574520769, "other_share": 0.013435904464708683, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.960049763321877, "prefix_embed_ms": 52.288639068603516, "prefill_forward_ms": 57.618431091308594, "prefill_ms": 109.90707015991211, "step_ms": [27.544960021972656, 26.761152267456055, 28.568639755249023, 26.841856002807617, 27.242496490478516, 28.159168243408203, 27.076000213623047, 27.01113510131836, 26.37798309326172, 28.58937644958496], "step_mean_ms": 27.417276763916014, "step_p50_ms": 27.15924835205078, "step_p95_ms": 28.58004493713379, "sample_ms": 274.17276763916016, "sample_ms_from_mean": 274.17276763916016, "output_transfer_ms": 0.07139705121517181, "total_ms": 399.97346326708794, "control_frequency_hz": 2.500165865584527, "prefill_share": 0.274785905200216, "sample_share": 0.6854773949242663, "other_share": 0.014656418967385518, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.73646342754364, "prefix_embed_ms": 50.51472091674805, "prefill_forward_ms": 57.51808166503906, "prefill_ms": 108.03280258178711, "step_ms": [27.5996150970459, 26.953407287597656, 27.612895965576172, 26.612384796142578, 27.563007354736328, 26.907424926757812, 27.208864212036133, 26.751392364501953, 28.881248474121094, 27.449663162231445], "step_mean_ms": 27.353990364074708, "step_p50_ms": 27.32926368713379, "step_p95_ms": 28.310489845275878, "sample_ms": 273.53990364074707, "sample_ms_from_mean": 273.53990364074707, "output_transfer_ms": 0.09667687118053436, "total_ms": 396.71635814011097, "control_frequency_hz": 2.520692629586056, "prefill_share": 0.2723174892214362, "sample_share": 0.6895100190049112, "other_share": 0.013386167496972905, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.003495961427689, "prefix_embed_ms": 51.25468826293945, "prefill_forward_ms": 57.18220901489258, "prefill_ms": 108.43689727783203, "step_ms": [27.127840042114258, 27.77030372619629, 26.96227264404297, 26.74880027770996, 26.507488250732422, 26.137311935424805, 26.387615203857422, 26.389503479003906, 26.305824279785156, 26.624319076538086], "step_mean_ms": 26.696127891540527, "step_p50_ms": 26.565903663635254, "step_p95_ms": 27.481195068359373, "sample_ms": 266.9612789154053, "sample_ms_from_mean": 266.9612789154053, "output_transfer_ms": 0.09007565677165985, "total_ms": 390.85455797612667, "control_frequency_hz": 2.5584964524350764, "prefill_share": 0.2774354169984001, "sample_share": 0.6830194850425954, "other_share": 0.013720730781442179, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.008573696017265, "prefix_embed_ms": 50.20716857910156, "prefill_forward_ms": 57.29075241088867, "prefill_ms": 107.49792098999023, "step_ms": [27.37049674987793, 27.036863327026367, 27.062816619873047, 28.482816696166992, 26.837663650512695, 26.873151779174805, 26.26153564453125, 26.55846405029297, 26.93769645690918, 26.54934310913086], "step_mean_ms": 26.99708480834961, "step_p50_ms": 26.905424118041992, "step_p95_ms": 27.982272720336912, "sample_ms": 269.9708480834961, "sample_ms_from_mean": 269.9708480834961, "output_transfer_ms": 0.06919354200363159, "total_ms": 393.7540613114834, "control_frequency_hz": 2.539656344544823, "prefill_share": 0.2730077770676068, "sample_share": 0.6856331771773975, "other_share": 0.01322532390556523, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.231602936983109, "prefix_embed_ms": 53.07699203491211, "prefill_forward_ms": 56.97536087036133, "prefill_ms": 110.05235290527344, "step_ms": [27.18662452697754, 26.479551315307617, 32.0079345703125, 38.35852813720703, 38.21158218383789, 31.815231323242188, 26.82655906677246, 27.275136947631836, 26.75868797302246, 27.17571258544922], "step_mean_ms": 30.209554862976074, "step_p50_ms": 27.230880737304688, "step_p95_ms": 38.29240245819092, "sample_ms": 302.09554862976074, "sample_ms_from_mean": 302.09554862976074, "output_transfer_ms": 0.0758189707994461, "total_ms": 427.9025588184595, "control_frequency_hz": 2.336980649896643, "prefill_share": 0.2571902192152206, "sample_share": 0.7059914515676612, "other_share": 0.01273008366830964, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.087624192237854, "prefix_embed_ms": 52.57942581176758, "prefill_forward_ms": 56.97740936279297, "prefill_ms": 109.55683517456055, "step_ms": [27.774080276489258, 27.87049674987793, 26.231775283813477, 28.60963249206543, 27.321823120117188, 26.82863998413086, 26.74127960205078, 26.470624923706055, 26.715871810913086, 26.738975524902344], "step_mean_ms": 27.13031997680664, "step_p50_ms": 26.78495979309082, "step_p95_ms": 28.277021408081055, "sample_ms": 271.3031997680664, "sample_ms_from_mean": 271.3031997680664, "output_transfer_ms": 0.07019937038421631, "total_ms": 396.1011301726103, "control_frequency_hz": 2.524607792874074, "prefill_share": 0.276588039844316, "sample_share": 0.6849341723661322, "other_share": 0.012833267264716224, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.056700557470322, "prefix_embed_ms": 52.34415817260742, "prefill_forward_ms": 57.038848876953125, "prefill_ms": 109.38300704956055, "step_ms": [27.107711791992188, 26.788799285888672, 26.773183822631836, 27.718080520629883, 27.270751953125, 27.321151733398438, 26.96224021911621, 27.71504020690918, 28.016063690185547, 29.411903381347656], "step_mean_ms": 27.50849266052246, "step_p50_ms": 27.29595184326172, "step_p95_ms": 28.783775520324706, "sample_ms": 275.0849266052246, "sample_ms_from_mean": 275.0849266052246, "output_transfer_ms": 0.08237920701503754, "total_ms": 399.9061733484268, "control_frequency_hz": 2.500586554158364, "prefill_share": 0.27352167668154065, "sample_share": 0.687873668720665, "other_share": 0.01325100806718304, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.215511545538902, "prefix_embed_ms": 51.308990478515625, "prefill_forward_ms": 57.01017761230469, "prefill_ms": 108.31916809082031, "step_ms": [26.989952087402344, 26.688800811767578, 28.75823974609375, 26.486976623535156, 26.53513526916504, 26.79302406311035, 26.71526336669922, 26.76995277404785, 26.662752151489258, 26.51740837097168], "step_mean_ms": 26.891750526428222, "step_p50_ms": 26.7020320892334, "step_p95_ms": 27.962510299682616, "sample_ms": 268.9175052642822, "sample_ms_from_mean": 268.9175052642822, "output_transfer_ms": 0.07172487676143646, "total_ms": 392.75125972926617, "control_frequency_hz": 2.5461407830730485, "prefill_share": 0.2757958514645824, "sample_share": 0.6847018274356502, "other_share": 0.013309568899834057, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.825367644429207, "prefix_embed_ms": 50.762977600097656, "prefill_forward_ms": 59.38790512084961, "prefill_ms": 110.15088272094727, "step_ms": [27.13350486755371, 26.28339195251465, 26.486495971679688, 26.374847412109375, 26.850688934326172, 26.677343368530273, 26.61123275756836, 26.61827278137207, 26.5031681060791, 26.67308807373047], "step_mean_ms": 26.621203422546387, "step_p50_ms": 26.614752769470215, "step_p95_ms": 27.006237697601318, "sample_ms": 266.21203422546387, "sample_ms_from_mean": 266.21203422546387, "output_transfer_ms": 0.07939338684082031, "total_ms": 392.7248530089855, "control_frequency_hz": 2.546311984938524, "prefill_share": 0.2804785128239058, "sample_share": 0.6778588932831632, "other_share": 0.013895670186117556, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.16659289598465, "prefix_embed_ms": 50.00233459472656, "prefill_forward_ms": 57.589759826660156, "prefill_ms": 107.59209442138672, "step_ms": [26.799007415771484, 27.675392150878906, 27.847103118896484, 27.108863830566406, 26.832319259643555, 26.967487335205078, 26.911487579345703, 26.994943618774414, 26.63430404663086, 27.304767608642578], "step_mean_ms": 27.107567596435548, "step_p50_ms": 26.981215476989746, "step_p95_ms": 27.769833183288576, "sample_ms": 271.07567596435547, "sample_ms_from_mean": 271.07567596435547, "output_transfer_ms": 0.06820634007453918, "total_ms": 393.8321452587843, "control_frequency_hz": 2.539152814311049, "prefill_share": 0.2731927693476842, "sample_share": 0.6883025655161632, "other_share": 0.012516945852004357, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.102702304720879, "prefix_embed_ms": 50.25136184692383, "prefill_forward_ms": 56.88118362426758, "prefill_ms": 107.1325454711914, "step_ms": [26.921024322509766, 26.266016006469727, 27.194271087646484, 26.51683235168457, 27.029504776000977, 26.45212745666504, 28.434751510620117, 26.568767547607422, 27.28054428100586, 27.0150089263916], "step_mean_ms": 26.967884826660157, "step_p50_ms": 26.968016624450684, "step_p95_ms": 27.9153582572937, "sample_ms": 269.67884826660156, "sample_ms_from_mean": 269.67884826660156, "output_transfer_ms": 0.0737309455871582, "total_ms": 392.0955955982208, "control_frequency_hz": 2.550398451873193, "prefill_share": 0.27323067811496105, "sample_share": 0.6877885171220863, "other_share": 0.01302684515577608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.235544294118881, "prefix_embed_ms": 52.22502517700195, "prefill_forward_ms": 56.9804801940918, "prefill_ms": 109.20550537109375, "step_ms": [27.598623275756836, 26.48371124267578, 26.764768600463867, 26.466144561767578, 26.71788787841797, 26.083328247070312, 26.262176513671875, 26.820127487182617, 26.53219223022461, 26.31385612487793], "step_mean_ms": 26.604281616210937, "step_p50_ms": 26.507951736450195, "step_p95_ms": 27.248300170898435, "sample_ms": 266.0428161621094, "sample_ms_from_mean": 266.0428161621094, "output_transfer_ms": 0.08487515151500702, "total_ms": 390.7887004315853, "control_frequency_hz": 2.5589276222562334, "prefill_share": 0.27944898419654324, "sample_share": 0.6807843109800586, "other_share": 0.013357498430695152, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.037992149591446, "prefix_embed_ms": 50.06604766845703, "prefill_forward_ms": 56.953857421875, "prefill_ms": 107.01990509033203, "step_ms": [26.680160522460938, 26.56505584716797, 26.431711196899414, 26.29302406311035, 26.457151412963867, 26.423328399658203, 26.068639755249023, 26.45350456237793, 26.348928451538086, 26.749727249145508], "step_mean_ms": 26.44712314605713, "step_p50_ms": 26.442607879638672, "step_p95_ms": 26.718422222137452, "sample_ms": 264.4712314605713, "sample_ms_from_mean": 264.4712314605713, "output_transfer_ms": 0.07324665784835815, "total_ms": 386.66954822838306, "control_frequency_hz": 2.586187623467464, "prefill_share": 0.2767735540092794, "sample_share": 0.6839722255665285, "other_share": 0.013104659762467401, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.9293552339077, "prefix_embed_ms": 50.405216217041016, "prefill_forward_ms": 56.996864318847656, "prefill_ms": 107.40208053588867, "step_ms": [26.696224212646484, 26.496671676635742, 26.52739143371582, 26.465280532836914, 26.694368362426758, 26.394079208374023, 26.602880477905273, 26.254016876220703, 26.1200008392334, 26.550111770629883], "step_mean_ms": 26.4801025390625, "step_p50_ms": 26.51203155517578, "step_p95_ms": 26.695389080047608, "sample_ms": 264.801025390625, "sample_ms_from_mean": 264.801025390625, "output_transfer_ms": 0.06769411265850067, "total_ms": 387.1339652687311, "control_frequency_hz": 2.5830851584046486, "prefill_share": 0.2774287202140348, "sample_share": 0.6840035986168559, "other_share": 0.012744451374155235, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.616304188966751, "prefix_embed_ms": 49.70412826538086, "prefill_forward_ms": 56.89548873901367, "prefill_ms": 106.59961700439453, "step_ms": [26.62995147705078, 26.34783935546875, 26.234304428100586, 25.98431968688965, 26.690080642700195, 26.806720733642578, 26.395488739013672, 26.53228759765625, 26.56595230102539, 26.305280685424805], "step_mean_ms": 26.449222564697266, "step_p50_ms": 26.46388816833496, "step_p95_ms": 26.754232692718507, "sample_ms": 264.49222564697266, "sample_ms_from_mean": 264.49222564697266, "output_transfer_ms": 0.06952881813049316, "total_ms": 385.7422508299351, "control_frequency_hz": 2.5924046376783267, "prefill_share": 0.2763493414969258, "sample_share": 0.6856708723970744, "other_share": 0.012870187698623166, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.734377264976501, "prefix_embed_ms": 50.457054138183594, "prefill_forward_ms": 56.9384651184082, "prefill_ms": 107.3955192565918, "step_ms": [26.80963134765625, 26.386560440063477, 26.193056106567383, 26.169248580932617, 26.450176239013672, 26.088607788085938, 26.32089614868164, 26.46771240234375, 26.35094451904297, 26.446048736572266], "step_mean_ms": 26.368288230895995, "step_p50_ms": 26.368752479553223, "step_p95_ms": 26.655767822265624, "sample_ms": 263.68288230895996, "sample_ms_from_mean": 263.68288230895996, "output_transfer_ms": 0.06915628910064697, "total_ms": 385.8755901455879, "control_frequency_hz": 2.591508832218974, "prefill_share": 0.27831643669420053, "sample_share": 0.683336518408626, "other_share": 0.012941101104827457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.692845866084099, "prefix_embed_ms": 50.55100631713867, "prefill_forward_ms": 56.4029426574707, "prefill_ms": 106.95394897460938, "step_ms": [26.8721923828125, 26.91971206665039, 26.721120834350586, 26.447168350219727, 26.753664016723633, 26.5053768157959, 26.348031997680664, 27.688095092773438, 26.56934356689453, 26.041471481323242], "step_mean_ms": 26.68661766052246, "step_p50_ms": 26.64523220062256, "step_p95_ms": 27.342322731018065, "sample_ms": 266.8661766052246, "sample_ms_from_mean": 266.8661766052246, "output_transfer_ms": 0.07533282041549683, "total_ms": 388.73834535479546, "control_frequency_hz": 2.57242438763615, "prefill_share": 0.2751309466962776, "sample_share": 0.6864930609344957, "other_share": 0.013248091293287554, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.664487093687057, "prefix_embed_ms": 51.208927154541016, "prefill_forward_ms": 56.593406677246094, "prefill_ms": 107.80233383178711, "step_ms": [28.234336853027344, 27.829952239990234, 27.908607482910156, 27.2938232421875, 27.014720916748047, 26.85468864440918, 26.647104263305664, 26.393407821655273, 26.513120651245117, 26.33135986328125], "step_mean_ms": 27.102112197875975, "step_p50_ms": 26.934704780578613, "step_p95_ms": 28.08775863647461, "sample_ms": 271.02112197875977, "sample_ms_from_mean": 271.02112197875977, "output_transfer_ms": 0.06991438567638397, "total_ms": 393.62690411508083, "control_frequency_hz": 2.5404767548806566, "prefill_share": 0.27386932322153973, "sample_share": 0.6885228604687142, "other_share": 0.012877795628747291, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.827222675085068, "prefix_embed_ms": 50.156097412109375, "prefill_forward_ms": 56.43571090698242, "prefill_ms": 106.5918083190918, "step_ms": [26.858848571777344, 26.55561637878418, 26.506271362304688, 26.412960052490234, 26.53740882873535, 26.487071990966797, 27.027456283569336, 26.55683135986328, 26.5032958984375, 26.731359481811523], "step_mean_ms": 26.617712020874023, "step_p50_ms": 26.546512603759766, "step_p95_ms": 26.951582813262938, "sample_ms": 266.17712020874023, "sample_ms_from_mean": 266.17712020874023, "output_transfer_ms": 0.07480010390281677, "total_ms": 387.70509511232376, "control_frequency_hz": 2.579280005877368, "prefill_share": 0.2749301199877464, "sample_share": 0.6865453241764204, "other_share": 0.012984466464247474, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.87325981259346, "prefix_embed_ms": 50.22217559814453, "prefill_forward_ms": 56.422401428222656, "prefill_ms": 106.64457702636719, "step_ms": [26.737407684326172, 26.23219108581543, 27.254047393798828, 26.558847427368164, 26.41641616821289, 27.2936954498291, 27.94611167907715, 26.947967529296875, 26.781280517578125, 27.024703979492188], "step_mean_ms": 26.91926689147949, "step_p50_ms": 26.8646240234375, "step_p95_ms": 27.652524375915526, "sample_ms": 269.1926689147949, "sample_ms_from_mean": 269.1926689147949, "output_transfer_ms": 0.08133426308631897, "total_ms": 391.6348647326231, "control_frequency_hz": 2.553398816223167, "prefill_share": 0.27230613673574633, "sample_share": 0.6873562421429923, "other_share": 0.014919572392438454, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.911401197314262, "prefix_embed_ms": 50.3152961730957, "prefill_forward_ms": 59.39814376831055, "prefill_ms": 109.71343994140625, "step_ms": [26.8874568939209, 26.423904418945312, 26.552959442138672, 26.59516716003418, 26.465375900268555, 26.625919342041016, 26.476415634155273, 26.595935821533203, 26.010303497314453, 26.493759155273438], "step_mean_ms": 26.5127197265625, "step_p50_ms": 26.523359298706055, "step_p95_ms": 26.769764995574953, "sample_ms": 265.127197265625, "sample_ms_from_mean": 265.127197265625, "output_transfer_ms": 0.07290393114089966, "total_ms": 390.03551192581654, "control_frequency_hz": 2.5638691078729177, "prefill_share": 0.2812908993842422, "sample_share": 0.679751430726265, "other_share": 0.013359218407069448, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.913252666592598, "prefix_embed_ms": 49.84415817260742, "prefill_forward_ms": 59.231201171875, "prefill_ms": 109.07535934448242, "step_ms": [26.940000534057617, 26.51241683959961, 26.215967178344727, 26.192480087280273, 26.154783248901367, 26.226816177368164, 26.739295959472656, 26.597055435180664, 26.352415084838867, 26.646879196166992], "step_mean_ms": 26.457810974121095, "step_p50_ms": 26.43241596221924, "step_p95_ms": 26.849683475494384, "sample_ms": 264.57810974121094, "sample_ms_from_mean": 264.57810974121094, "output_transfer_ms": 0.06907247006893158, "total_ms": 388.60069029033184, "control_frequency_hz": 2.573335624424338, "prefill_share": 0.28068750794804276, "sample_share": 0.6808482752399102, "other_share": 0.012776343923289411, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.866693988442421, "prefix_embed_ms": 49.789249420166016, "prefill_forward_ms": 59.203582763671875, "prefill_ms": 108.99283218383789, "step_ms": [27.75129508972168, 27.773855209350586, 27.259584426879883, 27.00115203857422, 26.497119903564453, 26.421119689941406, 26.267616271972656, 26.413728713989258, 27.01372718811035, 28.58095932006836], "step_mean_ms": 27.098015785217285, "step_p50_ms": 27.007439613342285, "step_p95_ms": 28.21776247024536, "sample_ms": 270.98015785217285, "sample_ms_from_mean": 270.98015785217285, "output_transfer_ms": 0.0753495842218399, "total_ms": 395.1402958482504, "control_frequency_hz": 2.530746700620075, "prefill_share": 0.2758332504404853, "sample_share": 0.6857821404178935, "other_share": 0.013223815172680072, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.793570265173912, "prefix_embed_ms": 51.33808135986328, "prefill_forward_ms": 59.17900848388672, "prefill_ms": 110.51708984375, "step_ms": [27.803327560424805, 26.975168228149414, 27.612287521362305, 27.399776458740234, 27.931583404541016, 27.79020881652832, 26.853408813476562, 26.55945587158203, 26.92902374267578, 26.24553680419922], "step_mean_ms": 27.20997772216797, "step_p50_ms": 27.187472343444824, "step_p95_ms": 27.87386827468872, "sample_ms": 272.0997772216797, "sample_ms_from_mean": 272.0997772216797, "output_transfer_ms": 0.07503852248191833, "total_ms": 397.6828642189503, "control_frequency_hz": 2.5145664799110756, "prefill_share": 0.2779025695784145, "sample_share": 0.6842129789929069, "other_share": 0.01306917856788331, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.657720103859901, "prefix_embed_ms": 50.659423828125, "prefill_forward_ms": 59.254783630371094, "prefill_ms": 109.9142074584961, "step_ms": [26.755327224731445, 26.70899200439453, 26.263296127319336, 26.16556739807129, 26.317407608032227, 26.406240463256836, 26.44915199279785, 26.24118423461914, 27.63587188720703, 26.45782470703125], "step_mean_ms": 26.540086364746095, "step_p50_ms": 26.427696228027344, "step_p95_ms": 27.239626789093016, "sample_ms": 265.40086364746094, "sample_ms_from_mean": 265.40086364746094, "output_transfer_ms": 0.07211975753307343, "total_ms": 391.04852080345154, "control_frequency_hz": 2.55722742013035, "prefill_share": 0.2810756251747621, "sample_share": 0.6786903658455634, "other_share": 0.015352595692643117, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.40341705083847, "prefix_embed_ms": 51.111873626708984, "prefill_forward_ms": 59.266048431396484, "prefill_ms": 110.37792205810547, "step_ms": [26.781600952148438, 26.4586238861084, 26.673376083374023, 26.265727996826172, 26.16659164428711, 26.37398338317871, 26.27814483642578, 26.381759643554688, 26.629087448120117, 26.523744583129883], "step_mean_ms": 26.453264045715333, "step_p50_ms": 26.420191764831543, "step_p95_ms": 26.732899761199953, "sample_ms": 264.5326404571533, "sample_ms_from_mean": 264.5326404571533, "output_transfer_ms": 0.06829388439655304, "total_ms": 390.39919152855873, "control_frequency_hz": 2.561480714354521, "prefill_share": 0.2827309186423636, "sample_share": 0.6775952568482767, "other_share": 0.012850738902459836, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.95619222521782, "prefix_embed_ms": 49.97532653808594, "prefill_forward_ms": 59.30803298950195, "prefill_ms": 109.28335952758789, "step_ms": [27.222463607788086, 26.535423278808594, 26.449216842651367, 26.60588836669922, 26.254560470581055, 26.549728393554688, 26.499616622924805, 26.35887908935547, 26.38319969177246, 26.314655303955078], "step_mean_ms": 26.517363166809083, "step_p50_ms": 26.474416732788086, "step_p95_ms": 26.945004749298096, "sample_ms": 265.1736316680908, "sample_ms_from_mean": 265.1736316680908, "output_transfer_ms": 0.07314048707485199, "total_ms": 389.6554224193096, "control_frequency_hz": 2.5663700348147507, "prefill_share": 0.28046153919548866, "sample_share": 0.6805336623359921, "other_share": 0.01326581952650398, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.779412299394608, "prefix_embed_ms": 50.115169525146484, "prefill_forward_ms": 59.205631256103516, "prefill_ms": 109.32080078125, "step_ms": [27.135135650634766, 26.46780776977539, 26.247264862060547, 26.478879928588867, 26.88764762878418, 26.32307243347168, 26.388063430786133, 26.965919494628906, 26.401824951171875, 26.68662452697754], "step_mean_ms": 26.598224067687987, "step_p50_ms": 26.47334384918213, "step_p95_ms": 27.05898838043213, "sample_ms": 265.9822406768799, "sample_ms_from_mean": 265.9822406768799, "output_transfer_ms": 0.07433630526065826, "total_ms": 390.55538177490234, "control_frequency_hz": 2.5604563313285813, "prefill_share": 0.2799111365062621, "sample_share": 0.6810359121620797, "other_share": 0.01382285832954848, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.98578779399395, "prefix_embed_ms": 49.73040008544922, "prefill_forward_ms": 57.179134368896484, "prefill_ms": 106.9095344543457, "step_ms": [26.821983337402344, 26.243328094482422, 26.51468849182129, 26.34480094909668, 26.173311233520508, 25.963455200195312, 27.59596824645996, 26.244159698486328, 26.61676788330078, 26.238143920898438], "step_mean_ms": 26.475660705566405, "step_p50_ms": 26.294480323791504, "step_p95_ms": 27.24767503738403, "sample_ms": 264.75660705566406, "sample_ms_from_mean": 264.75660705566406, "output_transfer_ms": 0.07245130836963654, "total_ms": 386.8332616984844, "control_frequency_hz": 2.5850931112005715, "prefill_share": 0.27637110103958923, "sample_share": 0.6844204810444339, "other_share": 0.013206933301648618, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.528933256864548, "prefix_embed_ms": 50.740638732910156, "prefill_forward_ms": 57.0777587890625, "prefill_ms": 107.81839752197266, "step_ms": [27.37286376953125, 26.717344284057617, 26.72844886779785, 26.80975914001465, 26.634239196777344, 26.858911514282227, 26.754655838012695, 27.69139289855957, 27.64784049987793, 27.072959899902344], "step_mean_ms": 27.02884159088135, "step_p50_ms": 26.834335327148438, "step_p95_ms": 27.67179431915283, "sample_ms": 270.2884159088135, "sample_ms_from_mean": 270.2884159088135, "output_transfer_ms": 0.0783279538154602, "total_ms": 394.09504644572735, "control_frequency_hz": 2.5374589430108827, "prefill_share": 0.27358475701323187, "sample_share": 0.6858457581400637, "other_share": 0.013653995026812006, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.6390081346035, "prefix_embed_ms": 50.45916748046875, "prefill_forward_ms": 56.990718841552734, "prefill_ms": 107.44988632202148, "step_ms": [27.925695419311523, 27.691936492919922, 28.94278335571289, 27.054784774780273, 27.155359268188477, 26.656864166259766, 26.8767032623291, 27.07254409790039, 26.86025619506836, 27.31817626953125], "step_mean_ms": 27.355510330200197, "step_p50_ms": 27.113951683044434, "step_p95_ms": 28.485093784332275, "sample_ms": 273.55510330200195, "sample_ms_from_mean": 273.55510330200195, "output_transfer_ms": 0.09502656757831573, "total_ms": 397.0931749790907, "control_frequency_hz": 2.5183006483368944, "prefill_share": 0.27059111838847233, "sample_share": 0.6888939940012977, "other_share": 0.013483361060454804, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.405203327536583, "prefix_embed_ms": 50.4134407043457, "prefill_forward_ms": 57.011199951171875, "prefill_ms": 107.42464065551758, "step_ms": [27.099103927612305, 26.650880813598633, 26.438400268554688, 26.55843162536621, 26.74176025390625, 26.856544494628906, 26.78544044494629, 26.665088653564453, 26.51683235168457, 27.062015533447266], "step_mean_ms": 26.737449836730956, "step_p50_ms": 26.70342445373535, "step_p95_ms": 27.082414150238037, "sample_ms": 267.37449836730957, "sample_ms_from_mean": 267.37449836730957, "output_transfer_ms": 0.08227117359638214, "total_ms": 390.6290717422962, "control_frequency_hz": 2.5599733157078357, "prefill_share": 0.2750042135276281, "sample_share": 0.6844715811210808, "other_share": 0.013676550479224454, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.020632296800613, "prefix_embed_ms": 50.340511322021484, "prefill_forward_ms": 57.05215835571289, "prefill_ms": 107.39266967773438, "step_ms": [26.9421443939209, 26.74390411376953, 26.611103057861328, 26.533151626586914, 26.76300811767578, 26.442623138427734, 26.371295928955078, 26.65398406982422, 26.82195281982422, 26.711519241333008], "step_mean_ms": 26.65946865081787, "step_p50_ms": 26.682751655578613, "step_p95_ms": 26.888058185577393, "sample_ms": 266.5946865081787, "sample_ms_from_mean": 266.5946865081787, "output_transfer_ms": 0.07886812090873718, "total_ms": 389.3113937228918, "control_frequency_hz": 2.5686378978977187, "prefill_share": 0.27585288129063973, "sample_share": 0.6847852151430696, "other_share": 0.01341994404352868, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.097997263073921, "prefix_embed_ms": 50.82134246826172, "prefill_forward_ms": 59.38585662841797, "prefill_ms": 110.20719909667969, "step_ms": [27.303647994995117, 26.928672790527344, 27.10335922241211, 26.94473648071289, 26.778432846069336, 27.751935958862305, 27.024639129638672, 27.080448150634766, 27.151487350463867, 26.99622344970703], "step_mean_ms": 27.106358337402344, "step_p50_ms": 27.05254364013672, "step_p95_ms": 27.55020637512207, "sample_ms": 271.06358337402344, "sample_ms_from_mean": 271.06358337402344, "output_transfer_ms": 0.07187016308307648, "total_ms": 396.8426864594221, "control_frequency_hz": 2.5198902086916797, "prefill_share": 0.2777100419310577, "sample_share": 0.6830504696770825, "other_share": 0.013612539040994414, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.942801669239998, "prefix_embed_ms": 53.51990509033203, "prefill_forward_ms": 58.97830581665039, "prefill_ms": 112.49821090698242, "step_ms": [26.757247924804688, 26.189504623413086, 26.277408599853516, 26.454912185668945, 26.5765438079834, 27.98873519897461, 26.572736740112305, 26.51702308654785, 26.493408203125, 26.46886444091797], "step_mean_ms": 26.629638481140137, "step_p50_ms": 26.505215644836426, "step_p95_ms": 27.434565925598143, "sample_ms": 266.29638481140137, "sample_ms_from_mean": 266.29638481140137, "output_transfer_ms": 0.06905384361743927, "total_ms": 393.944900482893, "control_frequency_hz": 2.5384260559642016, "prefill_share": 0.2855683898156403, "sample_share": 0.6759736818143309, "other_share": 0.01304357346764259, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.779535233974457, "prefix_embed_ms": 50.53833770751953, "prefill_forward_ms": 57.827327728271484, "prefill_ms": 108.36566543579102, "step_ms": [27.047744750976562, 26.679391860961914, 26.520736694335938, 26.175167083740234, 26.595455169677734, 26.54991912841797, 26.1727352142334, 27.377792358398438, 26.857919692993164, 26.315263748168945], "step_mean_ms": 26.62921257019043, "step_p50_ms": 26.57268714904785, "step_p95_ms": 27.229270935058594, "sample_ms": 266.2921257019043, "sample_ms_from_mean": 266.2921257019043, "output_transfer_ms": 0.06698630750179291, "total_ms": 389.9443671107292, "control_frequency_hz": 2.5644683815012987, "prefill_share": 0.2779003226504342, "sample_share": 0.6828977366053028, "other_share": 0.013950847583375628, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.230887681245804, "prefix_embed_ms": 50.02470397949219, "prefill_forward_ms": 57.19142532348633, "prefill_ms": 107.21612930297852, "step_ms": [26.853727340698242, 26.317920684814453, 26.500864028930664, 28.498687744140625, 26.5086727142334, 27.015296936035156, 26.501056671142578, 27.133792877197266, 26.98374366760254, 26.60326385498047], "step_mean_ms": 26.89170265197754, "step_p50_ms": 26.728495597839355, "step_p95_ms": 27.88448505401611, "sample_ms": 268.9170265197754, "sample_ms_from_mean": 268.9170265197754, "output_transfer_ms": 0.07571280002593994, "total_ms": 391.77706092596054, "control_frequency_hz": 2.5524720555014415, "prefill_share": 0.2736661739448819, "sample_share": 0.6864031954402667, "other_share": 0.013623320899187495, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.859560057520866, "prefix_embed_ms": 54.755489349365234, "prefill_forward_ms": 56.386558532714844, "prefill_ms": 111.14204788208008, "step_ms": [26.88252830505371, 27.041759490966797, 26.593856811523438, 26.90185546875, 28.76892852783203, 26.404064178466797, 26.32195281982422, 26.30953598022461, 26.29840087890625, 26.280384063720703], "step_mean_ms": 26.780326652526856, "step_p50_ms": 26.498960494995117, "step_p95_ms": 27.991702461242674, "sample_ms": 267.80326652526855, "sample_ms_from_mean": 267.80326652526855, "output_transfer_ms": 0.06932578980922699, "total_ms": 394.0247390419245, "control_frequency_hz": 2.5379117119181682, "prefill_share": 0.2820687050065009, "sample_share": 0.6796610466044217, "other_share": 0.013071612710839788, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.800868108868599, "prefix_embed_ms": 49.85318374633789, "prefill_forward_ms": 56.41727828979492, "prefill_ms": 106.27046203613281, "step_ms": [26.69024085998535, 26.221599578857422, 26.296960830688477, 26.09891128540039, 26.33148765563965, 28.85206413269043, 26.315231323242188, 26.16489601135254, 26.29529571533203, 26.191072463989258], "step_mean_ms": 26.545775985717775, "step_p50_ms": 26.296128273010254, "step_p95_ms": 27.87924365997314, "sample_ms": 265.45775985717773, "sample_ms_from_mean": 265.45775985717773, "output_transfer_ms": 0.06961077451705933, "total_ms": 387.38060742616653, "control_frequency_hz": 2.5814405285907265, "prefill_share": 0.27433087769213543, "sample_share": 0.685263419924223, "other_share": 0.014925648157470923, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.830376133322716, "prefix_embed_ms": 50.72943878173828, "prefill_forward_ms": 56.418304443359375, "prefill_ms": 107.14774322509766, "step_ms": [26.94812774658203, 26.5316162109375, 26.39084815979004, 26.467327117919922, 26.428831100463867, 26.15817642211914, 26.142208099365234, 26.335168838500977, 31.03126335144043, 27.083776473999023], "step_mean_ms": 26.951734352111817, "step_p50_ms": 26.448079109191895, "step_p95_ms": 29.254894256591793, "sample_ms": 269.51734352111816, "sample_ms_from_mean": 269.51734352111816, "output_transfer_ms": 0.07849186658859253, "total_ms": 391.9653743505478, "control_frequency_hz": 2.551245761585222, "prefill_share": 0.2733602257664521, "sample_share": 0.687604980331961, "other_share": 0.01375483641470569, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.991457685828209, "prefix_embed_ms": 53.94220733642578, "prefill_forward_ms": 56.54220962524414, "prefill_ms": 110.48441696166992, "step_ms": [27.89779281616211, 26.70319938659668, 29.844640731811523, 26.932544708251953, 26.692575454711914, 26.775007247924805, 28.584415435791016, 26.324352264404297, 26.119487762451172, 29.456384658813477], "step_mean_ms": 27.533040046691895, "step_p50_ms": 26.85377597808838, "step_p95_ms": 29.669925498962403, "sample_ms": 275.33040046691895, "sample_ms_from_mean": 275.33040046691895, "output_transfer_ms": 0.0680685043334961, "total_ms": 401.32002905011177, "control_frequency_hz": 2.491776955082231, "prefill_share": 0.2753025240807855, "sample_share": 0.6860619469170306, "other_share": 0.013569433462492873, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.79568436741829, "prefix_embed_ms": 51.73215866088867, "prefill_forward_ms": 59.203582763671875, "prefill_ms": 110.93574142456055, "step_ms": [26.785568237304688, 29.315231323242188, 26.587871551513672, 29.380735397338867, 26.431455612182617, 26.492095947265625, 31.337472915649414, 26.483583450317383, 26.722688674926758, 29.165760040283203], "step_mean_ms": 27.87024631500244, "step_p50_ms": 26.754128456115723, "step_p95_ms": 30.456941032409667, "sample_ms": 278.7024631500244, "sample_ms_from_mean": 278.7024631500244, "output_transfer_ms": 0.06935000419616699, "total_ms": 404.69353273510933, "control_frequency_hz": 2.4710056354039796, "prefill_share": 0.2741228422278078, "sample_share": 0.6886753570446803, "other_share": 0.012825245201798665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.882001206278801, "prefix_embed_ms": 50.29401779174805, "prefill_forward_ms": 59.23225784301758, "prefill_ms": 109.52627563476562, "step_ms": [26.76799964904785, 29.195327758789062, 28.91756820678711, 27.186784744262695, 28.207584381103516, 28.25062370300293, 29.563232421875, 26.29007911682129, 28.76144027709961, 29.857152938842773], "step_mean_ms": 28.299779319763182, "step_p50_ms": 28.50603199005127, "step_p95_ms": 29.724888706207274, "sample_ms": 282.99779319763184, "sample_ms_from_mean": 282.99779319763184, "output_transfer_ms": 0.0678282231092453, "total_ms": 407.7622629702091, "control_frequency_hz": 2.45240938363406, "prefill_share": 0.26860326612118973, "sample_share": 0.6940264435856034, "other_share": 0.012969235235017272, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.821917861700058, "prefix_embed_ms": 50.96681594848633, "prefill_forward_ms": 58.95884704589844, "prefill_ms": 109.92566299438477, "step_ms": [26.99283218383789, 28.16249656677246, 28.896320343017578, 26.55072021484375, 26.276832580566406, 29.503711700439453, 26.36649513244629, 26.16223907470703, 29.13532829284668, 26.391807556152344], "step_mean_ms": 27.443878364562988, "step_p50_ms": 26.77177619934082, "step_p95_ms": 29.337939167022704, "sample_ms": 274.4387836456299, "sample_ms_from_mean": 274.4387836456299, "output_transfer_ms": 0.08532777428627014, "total_ms": 400.35937912762165, "control_frequency_hz": 2.4977558966621145, "prefill_share": 0.2745674729387169, "sample_share": 0.6854810901236502, "other_share": 0.015205555730667961, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 13.339603319764137, "prefix_embed_ms": 49.95315170288086, "prefill_forward_ms": 58.049537658691406, "prefill_ms": 108.00268936157227, "step_ms": [27.02777671813965, 26.39651107788086, 29.331615447998047, 26.370880126953125, 28.17228889465332, 29.30112075805664, 26.21334457397461, 26.24515151977539, 29.2061767578125, 26.200607299804688], "step_mean_ms": 27.446547317504884, "step_p50_ms": 26.712143898010254, "step_p95_ms": 29.317892837524415, "sample_ms": 274.4654731750488, "sample_ms_from_mean": 274.4654731750488, "output_transfer_ms": 0.07057748734951019, "total_ms": 401.2540001422167, "control_frequency_hz": 2.4921869928912095, "prefill_share": 0.2691628976241802, "sample_share": 0.6840192822445879, "other_share": 0.013397141951423896, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.118292644619942, "prefix_embed_ms": 55.41622543334961, "prefill_forward_ms": 57.567230224609375, "prefill_ms": 112.98345565795898, "step_ms": [27.106719970703125, 26.38591957092285, 29.491008758544922, 26.26585578918457, 26.5064640045166, 31.525983810424805, 26.322431564331055, 26.620704650878906, 27.52908706665039, 28.068416595458984], "step_mean_ms": 27.58225917816162, "step_p50_ms": 26.863712310791016, "step_p95_ms": 30.610245037078855, "sample_ms": 275.8225917816162, "sample_ms_from_mean": 275.8225917816162, "output_transfer_ms": 0.06987340748310089, "total_ms": 404.33630906045437, "control_frequency_hz": 2.473188723327058, "prefill_share": 0.2794294084557869, "sample_share": 0.6821613236331358, "other_share": 0.013212010519632575, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.80745442211628, "prefix_embed_ms": 51.345760345458984, "prefill_forward_ms": 58.49907302856445, "prefill_ms": 109.84483337402344, "step_ms": [26.733440399169922, 29.530559539794922, 26.616512298583984, 29.24355125427246, 26.52454376220703, 28.68614387512207, 28.744768142700195, 26.58995246887207, 26.23151969909668, 29.753503799438477], "step_mean_ms": 27.865449523925783, "step_p50_ms": 27.709792137145996, "step_p95_ms": 29.653178882598876, "sample_ms": 278.6544952392578, "sample_ms_from_mean": 278.6544952392578, "output_transfer_ms": 0.07984787225723267, "total_ms": 404.24525178968906, "control_frequency_hz": 2.4737458153751075, "prefill_share": 0.27172819689956645, "sample_share": 0.6893203915335768, "other_share": 0.014492738890801575, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.935831651091576, "prefix_embed_ms": 50.116416931152344, "prefill_forward_ms": 58.15193557739258, "prefill_ms": 108.26835250854492, "step_ms": [26.711488723754883, 29.215904235839844, 26.31769561767578, 26.34636878967285, 29.17145538330078, 26.054336547851562, 30.399072647094727, 26.307424545288086, 26.3090877532959, 29.4531192779541], "step_mean_ms": 27.62859535217285, "step_p50_ms": 26.528928756713867, "step_p95_ms": 29.973393630981445, "sample_ms": 276.2859535217285, "sample_ms_from_mean": 276.2859535217285, "output_transfer_ms": 0.07348507642745972, "total_ms": 399.9489676207304, "control_frequency_hz": 2.500318993067873, "prefill_share": 0.2707054181252826, "sample_share": 0.6908030171082454, "other_share": 0.0134650800450242, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.831700474023819, "prefix_embed_ms": 51.97024154663086, "prefill_forward_ms": 57.5365104675293, "prefill_ms": 109.50675201416016, "step_ms": [27.482656478881836, 31.19811248779297, 26.267200469970703, 26.38092803955078, 29.3372802734375, 27.71468734741211, 26.393823623657227, 27.82329559326172, 27.91484832763672, 26.19068717956543], "step_mean_ms": 27.6703519821167, "step_p50_ms": 27.598671913146973, "step_p95_ms": 30.360737991333007, "sample_ms": 276.703519821167, "sample_ms_from_mean": 276.703519821167, "output_transfer_ms": 0.06875582039356232, "total_ms": 401.301983743906, "control_frequency_hz": 2.491889002567597, "prefill_share": 0.27287867105098274, "sample_share": 0.6895144580141112, "other_share": 0.012936032774446316, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.86611470580101, "prefix_embed_ms": 55.124481201171875, "prefill_forward_ms": 57.232383728027344, "prefill_ms": 112.35686492919922, "step_ms": [26.937759399414062, 29.129440307617188, 26.354816436767578, 26.42451286315918, 29.26166343688965, 26.983552932739258, 26.492000579833984, 26.277408599853516, 29.19183921813965, 26.166624069213867], "step_mean_ms": 27.32196178436279, "step_p50_ms": 26.714879989624023, "step_p95_ms": 29.23024253845215, "sample_ms": 273.21961784362793, "sample_ms_from_mean": 273.21961784362793, "output_transfer_ms": 0.07096491754055023, "total_ms": 400.8236713707447, "control_frequency_hz": 2.4948626326887835, "prefill_share": 0.28031494383792005, "sample_share": 0.681645415075577, "other_share": 0.013247992456175008, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.846283122897148, "prefix_embed_ms": 52.77177429199219, "prefill_forward_ms": 56.641536712646484, "prefill_ms": 109.41331100463867, "step_ms": [26.860864639282227, 26.553407669067383, 28.777952194213867, 26.36639976501465, 26.358112335205078, 29.184864044189453, 26.312959671020508, 26.259456634521484, 29.259647369384766, 26.047744750976562], "step_mean_ms": 27.1981409072876, "step_p50_ms": 26.459903717041016, "step_p95_ms": 29.225994873046876, "sample_ms": 271.981409072876, "sample_ms_from_mean": 271.981409072876, "output_transfer_ms": 0.07521174848079681, "total_ms": 396.69183269143105, "control_frequency_hz": 2.5208484712561643, "prefill_share": 0.2758143777811186, "sample_share": 0.6856239192714568, "other_share": 0.01355111776833557, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.94769111275673, "prefix_embed_ms": 53.371360778808594, "prefill_forward_ms": 56.62617492675781, "prefill_ms": 109.9975357055664, "step_ms": [29.541248321533203, 26.11836814880371, 26.293920516967773, 29.055967330932617, 26.390304565429688, 29.262367248535156, 26.312639236450195, 26.308000564575195, 26.21251106262207, 28.79190444946289], "step_mean_ms": 27.42872314453125, "step_p50_ms": 26.35147190093994, "step_p95_ms": 29.41575183868408, "sample_ms": 274.2872314453125, "sample_ms_from_mean": 274.2872314453125, "output_transfer_ms": 0.07134303450584412, "total_ms": 399.44227784872055, "control_frequency_hz": 2.503490630450307, "prefill_share": 0.2753778000115086, "sample_share": 0.6866755139754945, "other_share": 0.012864127899163316, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.918633848428726, "prefix_embed_ms": 50.04006576538086, "prefill_forward_ms": 57.655296325683594, "prefill_ms": 107.69536209106445, "step_ms": [26.608991622924805, 30.245759963989258, 27.401344299316406, 26.61961555480957, 29.779008865356445, 26.56800079345703, 26.69593620300293, 29.14735984802246, 26.192832946777344, 29.253087997436523], "step_mean_ms": 27.851193809509276, "step_p50_ms": 27.048640251159668, "step_p95_ms": 30.03572196960449, "sample_ms": 278.5119380950928, "sample_ms_from_mean": 278.5119380950928, "output_transfer_ms": 0.07208436727523804, "total_ms": 401.5355072915554, "control_frequency_hz": 2.4904397789007957, "prefill_share": 0.2682088137547117, "sample_share": 0.6936172095307749, "other_share": 0.01329269465033551, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.892512112855911, "prefix_embed_ms": 49.69279861450195, "prefill_forward_ms": 56.66304016113281, "prefill_ms": 106.35583877563477, "step_ms": [26.889888763427734, 29.211328506469727, 26.292768478393555, 26.19481658935547, 28.541215896606445, 27.06051254272461, 26.258399963378906, 26.126815795898438, 29.134687423706055, 26.43619155883789], "step_mean_ms": 27.214662551879883, "step_p50_ms": 26.663040161132812, "step_p95_ms": 29.176840019226074, "sample_ms": 272.1466255187988, "sample_ms_from_mean": 272.1466255187988, "output_transfer_ms": 0.07083453238010406, "total_ms": 393.64212192595005, "control_frequency_hz": 2.5403785425892886, "prefill_share": 0.2701840907047084, "sample_share": 0.6913554479060391, "other_share": 0.01314978935931603, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.843075647950172, "prefix_embed_ms": 53.04326248168945, "prefill_forward_ms": 56.414207458496094, "prefill_ms": 109.45746994018555, "step_ms": [28.204832077026367, 26.40390396118164, 29.281824111938477, 26.525983810424805, 26.50841522216797, 29.586143493652344, 26.267135620117188, 26.477088928222656, 29.359359741210938, 26.436992645263672], "step_mean_ms": 27.505167961120605, "step_p50_ms": 26.517199516296387, "step_p95_ms": 29.48409080505371, "sample_ms": 275.05167961120605, "sample_ms_from_mean": 275.05167961120605, "output_transfer_ms": 0.07054954767227173, "total_ms": 399.65933561325073, "control_frequency_hz": 2.502130967278836, "prefill_share": 0.2738769251373306, "sample_share": 0.6882153251572555, "other_share": 0.013102561105451301, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.935546666383743, "prefix_embed_ms": 54.36880111694336, "prefill_forward_ms": 56.381439208984375, "prefill_ms": 110.75024032592773, "step_ms": [29.71683120727539, 26.357376098632812, 29.45123291015625, 26.42310333251953, 26.427072525024414, 29.266815185546875, 26.15622329711914, 26.292064666748047, 26.16396713256836, 29.250335693359375], "step_mean_ms": 27.550502204895018, "step_p50_ms": 26.425087928771973, "step_p95_ms": 29.597311973571777, "sample_ms": 275.5050220489502, "sample_ms_from_mean": 275.5050220489502, "output_transfer_ms": 0.06932951509952545, "total_ms": 401.40608698129654, "control_frequency_hz": 2.491242740039951, "prefill_share": 0.27590573216964726, "sample_share": 0.6863498860239937, "other_share": 0.012819806654240188, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.69596579670906, "prefix_embed_ms": 49.728126525878906, "prefill_forward_ms": 56.39468765258789, "prefill_ms": 106.1228141784668, "step_ms": [26.640064239501953, 29.16044807434082, 26.14316749572754, 26.477535247802734, 28.638208389282227, 26.195552825927734, 29.36342430114746, 26.346431732177734, 26.237407684326172, 29.135040283203125], "step_mean_ms": 27.43372802734375, "step_p50_ms": 26.558799743652344, "step_p95_ms": 29.272084999084473, "sample_ms": 274.3372802734375, "sample_ms_from_mean": 274.3372802734375, "output_transfer_ms": 0.07244199514389038, "total_ms": 395.3698892146349, "control_frequency_hz": 2.5292770827500446, "prefill_share": 0.26841400185853753, "sample_share": 0.6938749959395814, "other_share": 0.013003992238990503, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.769614785909653, "prefix_embed_ms": 49.8546257019043, "prefill_forward_ms": 56.401920318603516, "prefill_ms": 106.25654602050781, "step_ms": [26.740095138549805, 27.227807998657227, 27.76585578918457, 26.300064086914062, 26.230144500732422, 29.183839797973633, 26.138368606567383, 28.40460777282715, 26.524959564208984, 26.239072799682617], "step_mean_ms": 27.075481605529784, "step_p50_ms": 26.632527351379395, "step_p95_ms": 28.833185386657714, "sample_ms": 270.75481605529785, "sample_ms_from_mean": 270.75481605529785, "output_transfer_ms": 0.07207319140434265, "total_ms": 392.0411430299282, "control_frequency_hz": 2.5507526895554955, "prefill_share": 0.2710341705446876, "sample_share": 0.6906285752631544, "other_share": 0.01323354211425838, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.398155078291893, "prefix_embed_ms": 53.05571365356445, "prefill_forward_ms": 58.33523178100586, "prefill_ms": 111.39094543457031, "step_ms": [26.784543991088867, 26.25574493408203, 29.051712036132812, 26.05459213256836, 26.332544326782227, 26.210655212402344, 29.129375457763672, 26.173664093017578, 26.197248458862305, 29.176000595092773], "step_mean_ms": 27.136608123779297, "step_p50_ms": 26.29414463043213, "step_p95_ms": 29.155019283294678, "sample_ms": 271.36608123779297, "sample_ms_from_mean": 271.36608123779297, "output_transfer_ms": 0.06617791950702667, "total_ms": 398.2846550643444, "control_frequency_hz": 2.5107670789838643, "prefill_share": 0.2796767186940071, "sample_share": 0.6813370231247114, "other_share": 0.01271275538688331, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.74121131002903, "prefix_embed_ms": 52.890689849853516, "prefill_forward_ms": 58.38336181640625, "prefill_ms": 111.27405166625977, "step_ms": [26.72127914428711, 26.515199661254883, 26.479488372802734, 29.415103912353516, 26.28940773010254, 26.13065528869629, 29.050016403198242, 26.119775772094727, 26.280351638793945, 29.961759567260742], "step_mean_ms": 27.296303749084473, "step_p50_ms": 26.49734401702881, "step_p95_ms": 29.71576452255249, "sample_ms": 272.9630374908447, "sample_ms_from_mean": 272.9630374908447, "output_transfer_ms": 0.07095001637935638, "total_ms": 399.29634891450405, "control_frequency_hz": 2.5044055692433003, "prefill_share": 0.2786753547052477, "sample_share": 0.6836101512896393, "other_share": 0.013140862532942076, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.224025696516037, "prefix_embed_ms": 50.22876739501953, "prefill_forward_ms": 58.4161262512207, "prefill_ms": 108.64489364624023, "step_ms": [26.843936920166016, 29.30089569091797, 26.352127075195312, 29.416671752929688, 26.424671173095703, 26.405536651611328, 28.73472023010254, 26.494176864624023, 26.281055450439453, 26.05740737915039], "step_mean_ms": 27.231119918823243, "step_p50_ms": 26.459424018859863, "step_p95_ms": 29.364572525024414, "sample_ms": 272.3111991882324, "sample_ms_from_mean": 272.3111991882324, "output_transfer_ms": 0.07229670882225037, "total_ms": 396.4775986969471, "control_frequency_hz": 2.5222105947134814, "prefill_share": 0.27402530181606655, "sample_share": 0.686826191651693, "other_share": 0.013179013074910425, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.274857610464096, "prefix_embed_ms": 49.86323165893555, "prefill_forward_ms": 58.350624084472656, "prefill_ms": 108.2138557434082, "step_ms": [26.904096603393555, 26.474111557006836, 29.17286491394043, 26.282943725585938, 26.200767517089844, 29.672447204589844, 26.660480499267578, 29.57459259033203, 26.690656661987305, 26.316959381103516], "step_mean_ms": 27.394992065429687, "step_p50_ms": 26.67556858062744, "step_p95_ms": 29.628412628173827, "sample_ms": 273.9499206542969, "sample_ms_from_mean": 273.9499206542969, "output_transfer_ms": 0.0908486545085907, "total_ms": 399.7640013694763, "control_frequency_hz": 2.5014758621944146, "prefill_share": 0.27069434809712406, "sample_share": 0.6852791139667989, "other_share": 0.013094022195261705, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.11749543249607, "prefix_embed_ms": 53.20671844482422, "prefill_forward_ms": 59.21894454956055, "prefill_ms": 112.42566299438477, "step_ms": [26.745759963989258, 26.15920066833496, 29.248863220214844, 27.22991943359375, 26.681760787963867, 26.61212730407715, 29.557695388793945, 26.638399124145508, 29.197023391723633, 26.14838409423828], "step_mean_ms": 27.42191333770752, "step_p50_ms": 26.713760375976562, "step_p95_ms": 29.41872091293335, "sample_ms": 274.2191333770752, "sample_ms_from_mean": 274.2191333770752, "output_transfer_ms": 0.07040053606033325, "total_ms": 402.6561416685581, "control_frequency_hz": 2.4835086231545396, "prefill_share": 0.2792101035104208, "sample_share": 0.681025582375931, "other_share": 0.014462586623936964, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.799890220165253, "prefix_embed_ms": 52.693214416503906, "prefill_forward_ms": 59.256832122802734, "prefill_ms": 111.95004653930664, "step_ms": [26.725536346435547, 26.37001609802246, 26.148096084594727, 29.173696517944336, 26.16864013671875, 26.257375717163086, 29.18435287475586, 26.383743286132812, 26.188671112060547, 28.128192901611328], "step_mean_ms": 27.072832107543945, "step_p50_ms": 26.376879692077637, "step_p95_ms": 29.179557514190673, "sample_ms": 270.72832107543945, "sample_ms_from_mean": 270.72832107543945, "output_transfer_ms": 0.0828821212053299, "total_ms": 398.4518200159073, "control_frequency_hz": 2.509713721373082, "prefill_share": 0.28096256790805296, "sample_share": 0.6794505821673277, "other_share": 0.014783920574275302, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.794319048523903, "prefix_embed_ms": 49.72915267944336, "prefill_forward_ms": 58.98137664794922, "prefill_ms": 108.71052932739258, "step_ms": [29.805856704711914, 26.566911697387695, 26.307039260864258, 29.321983337402344, 26.31395149230957, 26.414976119995117, 27.016128540039062, 28.06175994873047, 26.223712921142578, 26.104095458984375], "step_mean_ms": 27.213641548156737, "step_p50_ms": 26.490943908691406, "step_p95_ms": 29.588113689422606, "sample_ms": 272.1364154815674, "sample_ms_from_mean": 272.1364154815674, "output_transfer_ms": 0.07092580199241638, "total_ms": 395.8457075059414, "control_frequency_hz": 2.526236816613682, "prefill_share": 0.27462854154042055, "sample_share": 0.6874810319308131, "other_share": 0.012968481782483545, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.630980297923088, "prefix_embed_ms": 50.252384185791016, "prefill_forward_ms": 58.8851203918457, "prefill_ms": 109.13750457763672, "step_ms": [26.710527420043945, 29.103839874267578, 26.179040908813477, 26.659584045410156, 28.593503952026367, 26.43052864074707, 26.194751739501953, 29.347904205322266, 26.2509765625, 26.17241668701172], "step_mean_ms": 27.164307403564454, "step_p50_ms": 26.545056343078613, "step_p95_ms": 29.238075256347656, "sample_ms": 271.64307403564453, "sample_ms_from_mean": 271.64307403564453, "output_transfer_ms": 0.07070787250995636, "total_ms": 397.93323539197445, "control_frequency_hz": 2.5129843678801405, "prefill_share": 0.2742608429530483, "sample_share": 0.6826347986944823, "other_share": 0.013698198902363134, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.790128096938133, "prefix_embed_ms": 52.88982391357422, "prefill_forward_ms": 58.93017578125, "prefill_ms": 111.81999969482422, "step_ms": [26.749759674072266, 26.145599365234375, 29.09097671508789, 26.3591365814209, 26.360960006713867, 29.032672882080078, 28.015392303466797, 27.2325439453125, 29.4967041015625, 29.93324851989746], "step_mean_ms": 27.841699409484864, "step_p50_ms": 27.62396812438965, "step_p95_ms": 29.73680353164673, "sample_ms": 278.41699409484863, "sample_ms_from_mean": 278.41699409484863, "output_transfer_ms": 0.0701751559972763, "total_ms": 405.37646412849426, "control_frequency_hz": 2.466842770829993, "prefill_share": 0.2758423578813891, "sample_share": 0.6868109491590941, "other_share": 0.013022875161821523, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.178782045841217, "prefix_embed_ms": 54.040382385253906, "prefill_forward_ms": 58.93324661254883, "prefill_ms": 112.97362899780273, "step_ms": [27.471200942993164, 29.894336700439453, 29.596256256103516, 27.189023971557617, 29.014144897460938, 29.804832458496094, 26.700992584228516, 29.71388816833496, 29.590272903442383, 26.537504196166992], "step_mean_ms": 28.551245307922365, "step_p50_ms": 29.30220890045166, "step_p95_ms": 29.854059791564943, "sample_ms": 285.51245307922363, "sample_ms_from_mean": 285.51245307922363, "output_transfer_ms": 0.070914626121521, "total_ms": 414.9842467159033, "control_frequency_hz": 2.4097300268956867, "prefill_share": 0.27223594604337853, "sample_share": 0.6880079312376511, "other_share": 0.015057120881968937, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.563567608594894, "prefix_embed_ms": 53.917598724365234, "prefill_forward_ms": 59.39097595214844, "prefill_ms": 113.30857467651367, "step_ms": [30.390432357788086, 27.81599998474121, 29.596288681030273, 29.472448348999023, 26.634111404418945, 29.723072052001953, 29.659711837768555, 26.579679489135742, 29.74892807006836, 29.441120147705078], "step_mean_ms": 28.906179237365723, "step_p50_ms": 29.53436851501465, "step_p95_ms": 30.10175542831421, "sample_ms": 289.0617923736572, "sample_ms_from_mean": 289.0617923736572, "output_transfer_ms": 0.07955171167850494, "total_ms": 420.7042455673218, "control_frequency_hz": 2.376966742162288, "prefill_share": 0.269330713607885, "sample_share": 0.6870902669020037, "other_share": 0.01352674534863194, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.178714990615845, "prefix_embed_ms": 53.65846252441406, "prefill_forward_ms": 58.6874885559082, "prefill_ms": 112.34595108032227, "step_ms": [27.207040786743164, 29.8786563873291, 29.636383056640625, 27.29030418395996, 29.798751831054688, 30.172576904296875, 29.826080322265625, 26.66111946105957, 24.949087142944336, 20.20809555053711], "step_mean_ms": 27.562809562683107, "step_p50_ms": 28.463343620300293, "step_p95_ms": 30.040312671661376, "sample_ms": 275.62809562683105, "sample_ms_from_mean": 275.62809562683105, "output_transfer_ms": 0.07105246186256409, "total_ms": 403.7803001701832, "control_frequency_hz": 2.476594325128109, "prefill_share": 0.27823534489664625, "sample_share": 0.6826189774752774, "other_share": 0.013761161721385452, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.962566196918488, "prefix_embed_ms": 39.75651168823242, "prefill_forward_ms": 57.18732833862305, "prefill_ms": 96.94384002685547, "step_ms": [20.380767822265625, 20.329439163208008, 20.23846435546875, 19.959936141967773, 20.283872604370117, 20.121728897094727, 19.92905616760254, 20.21958351135254, 20.260831832885742, 20.179296493530273], "step_mean_ms": 20.19029769897461, "step_p50_ms": 20.229023933410645, "step_p95_ms": 20.3576699256897, "sample_ms": 201.9029769897461, "sample_ms_from_mean": 201.9029769897461, "output_transfer_ms": 0.06894394755363464, "total_ms": 313.6145528405905, "control_frequency_hz": 3.18862753957817, "prefill_share": 0.3091177981020919, "sample_share": 0.643793392752322, "other_share": 0.015102059635364576, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.792463853955269, "prefix_embed_ms": 39.142337799072266, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 94.27654647827148, "step_ms": [20.728288650512695, 20.062335968017578, 20.231712341308594, 20.271263122558594, 20.172191619873047, 20.312000274658203, 20.045408248901367, 20.105632781982422, 20.00809669494629, 20.130367279052734], "step_mean_ms": 20.206729698181153, "step_p50_ms": 20.15127944946289, "step_p95_ms": 20.540958881378174, "sample_ms": 202.06729698181152, "sample_ms_from_mean": 202.06729698181152, "output_transfer_ms": 0.06578117609024048, "total_ms": 310.98464876413345, "control_frequency_hz": 3.215592808114624, "prefill_share": 0.3031549848294139, "sample_share": 0.649766146929875, "other_share": 0.01537876642146498, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.653739631175995, "prefix_embed_ms": 39.32102584838867, "prefill_forward_ms": 55.219200134277344, "prefill_ms": 94.54022598266602, "step_ms": [21.812543869018555, 20.317119598388672, 20.04991912841797, 19.90163230895996, 20.099424362182617, 20.181663513183594, 20.0882568359375, 19.77350425720215, 19.825824737548828, 19.778207778930664], "step_mean_ms": 20.18280963897705, "step_p50_ms": 20.069087982177734, "step_p95_ms": 21.139602947235105, "sample_ms": 201.8280963897705, "sample_ms_from_mean": 201.8280963897705, "output_transfer_ms": 0.08096173405647278, "total_ms": 310.7146006077528, "control_frequency_hz": 3.218387542922077, "prefill_share": 0.30426708560765037, "sample_share": 0.6495610312325136, "other_share": 0.014841841551905311, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.302934795618057, "prefix_embed_ms": 40.64995193481445, "prefill_forward_ms": 55.30624008178711, "prefill_ms": 95.95619201660156, "step_ms": [21.08710479736328, 20.47475242614746, 20.35875129699707, 19.834400177001953, 20.13395118713379, 19.827552795410156, 19.763904571533203, 19.724512100219727, 19.961055755615234, 20.19817543029785], "step_mean_ms": 20.136416053771974, "step_p50_ms": 20.04750347137451, "step_p95_ms": 20.81154623031616, "sample_ms": 201.36416053771973, "sample_ms_from_mean": 201.36416053771973, "output_transfer_ms": 0.06272271275520325, "total_ms": 312.2692983597517, "control_frequency_hz": 3.2023641301039594, "prefill_share": 0.3072866673753328, "sample_share": 0.6448413647944888, "other_share": 0.014677358040421083, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.068140923976898, "prefix_embed_ms": 40.07628631591797, "prefill_forward_ms": 55.153663635253906, "prefill_ms": 95.22994995117188, "step_ms": [20.45315170288086, 19.888063430786133, 19.973407745361328, 19.903488159179688, 20.169919967651367, 20.11689567565918, 19.822111129760742, 20.045568466186523, 20.035104751586914, 20.162656784057617], "step_mean_ms": 20.057036781311034, "step_p50_ms": 20.04033660888672, "step_p95_ms": 20.325697422027588, "sample_ms": 200.57036781311035, "sample_ms_from_mean": 200.57036781311035, "output_transfer_ms": 0.06471946835517883, "total_ms": 310.47683767974377, "control_frequency_hz": 3.2208521816738482, "prefill_share": 0.3067215920609233, "sample_share": 0.6460075067499826, "other_share": 0.01463445568785469, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.438013657927513, "prefix_embed_ms": 38.31635284423828, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.38912200927734, "step_ms": [20.166976928710938, 19.755807876586914, 19.793184280395508, 19.977632522583008, 20.11974334716797, 20.171232223510742, 20.043424606323242, 19.885343551635742, 20.020383834838867, 19.898784637451172], "step_mean_ms": 19.98325138092041, "step_p50_ms": 19.999008178710938, "step_p95_ms": 20.16931734085083, "sample_ms": 199.8325138092041, "sample_ms_from_mean": 199.8325138092041, "output_transfer_ms": 0.07380358874797821, "total_ms": 307.1245551109314, "control_frequency_hz": 3.256007972526998, "prefill_share": 0.3040757258095036, "sample_share": 0.65065625813288, "other_share": 0.014297463269221253, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.602800011634827, "prefix_embed_ms": 38.372737884521484, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.4065933227539, "step_ms": [20.884639739990234, 20.04025650024414, 20.46384048461914, 21.224767684936523, 21.802175521850586, 20.04528045654297, 19.819168090820312, 19.822368621826172, 19.943391799926758, 19.86390495300293], "step_mean_ms": 20.390979385375978, "step_p50_ms": 20.042768478393555, "step_p95_ms": 21.54234199523926, "sample_ms": 203.90979385375977, "sample_ms_from_mean": 203.90979385375977, "output_transfer_ms": 0.06686151027679443, "total_ms": 311.7099907249212, "control_frequency_hz": 3.2081101977975517, "prefill_share": 0.2996586445802555, "sample_share": 0.6541650890930432, "other_share": 0.015154926589006036, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.72781889140606, "prefix_embed_ms": 38.24943923950195, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.32220840454102, "step_ms": [21.435359954833984, 20.296159744262695, 20.238431930541992, 20.270719528198242, 20.291423797607422, 20.225759506225586, 19.850175857543945, 19.725919723510742, 19.749984741210938, 19.837343215942383], "step_mean_ms": 20.192127799987794, "step_p50_ms": 20.23209571838379, "step_p95_ms": 20.922719860076903, "sample_ms": 201.92127799987793, "sample_ms_from_mean": 201.92127799987793, "output_transfer_ms": 0.05957111716270447, "total_ms": 309.41858142614365, "control_frequency_hz": 3.23186796148729, "prefill_share": 0.301605055437876, "sample_share": 0.6525829091103739, "other_share": 0.014180483256475843, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.44533571600914, "prefix_embed_ms": 39.00758361816406, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 94.0588493347168, "step_ms": [20.21183967590332, 19.820608139038086, 19.80259132385254, 19.87295913696289, 19.86854362487793, 19.814847946166992, 19.87936019897461, 19.778911590576172, 20.882816314697266, 19.938432693481445], "step_mean_ms": 19.987091064453125, "step_p50_ms": 19.87075138092041, "step_p95_ms": 20.58087682723999, "sample_ms": 199.87091064453125, "sample_ms_from_mean": 199.87091064453125, "output_transfer_ms": 0.06547197699546814, "total_ms": 307.8815471380949, "control_frequency_hz": 3.2480023869422334, "prefill_share": 0.30550336715220006, "sample_share": 0.6491811948537554, "other_share": 0.014424311905417063, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.632496163249016, "prefix_embed_ms": 38.86191940307617, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.92547225952148, "step_ms": [20.364896774291992, 19.84009552001953, 19.837312698364258, 19.7458553314209, 19.918624877929688, 19.80121612548828, 20.583168029785156, 19.729503631591797, 19.820480346679688, 19.95667266845703], "step_mean_ms": 19.959782600402832, "step_p50_ms": 19.838704109191895, "step_p95_ms": 20.48494596481323, "sample_ms": 199.59782600402832, "sample_ms_from_mean": 199.59782600402832, "output_transfer_ms": 0.06307102739810944, "total_ms": 307.6298777014017, "control_frequency_hz": 3.250659550600093, "prefill_share": 0.3053197334450376, "sample_share": 0.6488245793790102, "other_share": 0.014338699089190197, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.39406268298626, "prefix_embed_ms": 38.522239685058594, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 93.56326293945312, "step_ms": [20.216064453125, 19.936479568481445, 19.882015228271484, 19.883520126342773, 20.030912399291992, 20.6843204498291, 20.217824935913086, 20.11574363708496, 19.886911392211914, 20.777856826782227], "step_mean_ms": 20.1631649017334, "step_p50_ms": 20.073328018188477, "step_p95_ms": 20.73576545715332, "sample_ms": 201.63164901733398, "sample_ms_from_mean": 201.63164901733398, "output_transfer_ms": 0.07399730384349823, "total_ms": 309.25023928284645, "control_frequency_hz": 3.2336272473677217, "prefill_share": 0.30254871639364617, "sample_share": 0.6520015941941363, "other_share": 0.014833512659092812, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.001936927437782, "prefix_embed_ms": 39.04723358154297, "prefill_forward_ms": 55.11270523071289, "prefill_ms": 94.15993881225586, "step_ms": [20.70515251159668, 20.764320373535156, 20.059551239013672, 20.28758430480957, 19.882400512695312, 20.088031768798828, 20.322784423828125, 19.94816017150879, 20.088672637939453, 20.00271987915039], "step_mean_ms": 20.2149377822876, "step_p50_ms": 20.08835220336914, "step_p95_ms": 20.737694835662843, "sample_ms": 202.14937782287598, "sample_ms_from_mean": 202.14937782287598, "output_transfer_ms": 0.06592459976673126, "total_ms": 311.13781966269016, "control_frequency_hz": 3.2140097950294733, "prefill_share": 0.3026309656419662, "sample_share": 0.6497100803818372, "other_share": 0.015300748412760962, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.111868381500244, "prefix_embed_ms": 39.78790283203125, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 94.84121322631836, "step_ms": [22.865280151367188, 20.647775650024414, 20.014911651611328, 20.191295623779297, 20.27302360534668, 19.992671966552734, 20.10915184020996, 19.9781436920166, 20.03913688659668, 20.581247329711914], "step_mean_ms": 20.46926383972168, "step_p50_ms": 20.15022373199463, "step_p95_ms": 21.867403125762937, "sample_ms": 204.6926383972168, "sample_ms_from_mean": 204.6926383972168, "output_transfer_ms": 0.07889792323112488, "total_ms": 314.60796296596527, "control_frequency_hz": 3.1785590885001898, "prefill_share": 0.3014584002648986, "sample_share": 0.6506276461265563, "other_share": 0.01552200075185965, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.205769911408424, "prefix_embed_ms": 38.50815963745117, "prefill_forward_ms": 55.046142578125, "prefill_ms": 93.55430221557617, "step_ms": [20.466655731201172, 19.867359161376953, 20.124832153320312, 20.052703857421875, 20.26028823852539, 20.266815185546875, 19.89910316467285, 19.939680099487305, 22.268064498901367, 19.794015884399414], "step_mean_ms": 20.293951797485352, "step_p50_ms": 20.088768005371094, "step_p95_ms": 21.45743055343628, "sample_ms": 202.93951797485352, "sample_ms_from_mean": 202.93951797485352, "output_transfer_ms": 0.06525032222270966, "total_ms": 311.40599958598614, "control_frequency_hz": 3.211241919967819, "prefill_share": 0.3004254970679964, "sample_share": 0.6516878873389124, "other_share": 0.014903884858017285, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.566502645611763, "prefix_embed_ms": 38.88947296142578, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.92742538452148, "step_ms": [20.53398323059082, 19.95337677001953, 19.77827262878418, 20.1092472076416, 19.91561508178711, 20.894624710083008, 19.977920532226562, 19.685760498046875, 20.081567764282227, 19.777088165283203], "step_mean_ms": 20.07074565887451, "step_p50_ms": 19.965648651123047, "step_p95_ms": 20.732336044311523, "sample_ms": 200.70745658874512, "sample_ms_from_mean": 200.70745658874512, "output_transfer_ms": 0.06264448165893555, "total_ms": 308.7163232266903, "control_frequency_hz": 3.2392197132566274, "prefill_share": 0.30425156792098296, "sample_share": 0.6501355499798619, "other_share": 0.014421958902651461, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.406933560967445, "prefix_embed_ms": 38.44707107543945, "prefill_forward_ms": 55.1464958190918, "prefill_ms": 93.59356689453125, "step_ms": [20.718944549560547, 21.934688568115234, 19.980480194091797, 19.904512405395508, 20.06540870666504, 19.915647506713867, 20.104000091552734, 20.059904098510742, 19.9553279876709, 20.148927688598633], "step_mean_ms": 20.2787841796875, "step_p50_ms": 20.06265640258789, "step_p95_ms": 21.387603759765625, "sample_ms": 202.787841796875, "sample_ms_from_mean": 202.787841796875, "output_transfer_ms": 0.06159953773021698, "total_ms": 310.51071360707283, "control_frequency_hz": 3.2205007949111293, "prefill_share": 0.30141815658240584, "sample_share": 0.6530784057051482, "other_share": 0.015010019341447788, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.655209258198738, "prefix_embed_ms": 38.79539108276367, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.86816024780273, "step_ms": [20.422719955444336, 19.755647659301758, 19.876127243041992, 19.908992767333984, 19.938655853271484, 19.9638729095459, 19.68182373046875, 20.03785514831543, 19.812288284301758, 20.0295352935791], "step_mean_ms": 19.94275188446045, "step_p50_ms": 19.923824310302734, "step_p95_ms": 20.249530792236328, "sample_ms": 199.4275188446045, "sample_ms_from_mean": 199.4275188446045, "output_transfer_ms": 0.061143189668655396, "total_ms": 308.0460485070944, "control_frequency_hz": 3.246267903277356, "prefill_share": 0.30472119575213746, "sample_share": 0.6473951534554796, "other_share": 0.016341767703940628, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.693287312984467, "prefix_embed_ms": 40.4005126953125, "prefill_forward_ms": 55.05535888671875, "prefill_ms": 95.45587158203125, "step_ms": [20.59769630432129, 19.882944107055664, 19.9465274810791, 20.212032318115234, 19.98182487487793, 20.058528900146484, 19.868576049804688, 21.877920150756836, 20.14019203186035, 19.713151931762695], "step_mean_ms": 20.227939414978028, "step_p50_ms": 20.020176887512207, "step_p95_ms": 21.301819419860838, "sample_ms": 202.27939414978027, "sample_ms_from_mean": 202.27939414978027, "output_transfer_ms": 0.059874728322029114, "total_ms": 312.02464178204536, "control_frequency_hz": 3.2048750838676305, "prefill_share": 0.3059241444421202, "sample_share": 0.6482801902904706, "other_share": 0.014537999252302546, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.808427050709724, "prefix_embed_ms": 38.252384185791016, "prefill_forward_ms": 55.173118591308594, "prefill_ms": 93.42550277709961, "step_ms": [20.291296005249023, 19.907072067260742, 20.005023956298828, 19.934335708618164, 22.135583877563477, 19.916767120361328, 20.38198471069336, 19.98863983154297, 19.965471267700195, 19.81830406188965], "step_mean_ms": 20.234447860717772, "step_p50_ms": 19.977055549621582, "step_p95_ms": 21.34646425247192, "sample_ms": 202.34447860717773, "sample_ms_from_mean": 202.34447860717773, "output_transfer_ms": 0.06996095180511475, "total_ms": 312.1351394802332, "control_frequency_hz": 3.203740539002427, "prefill_share": 0.29931107062367784, "sample_share": 0.6482592089571246, "other_share": 0.01437444723754067, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.759269654750824, "prefix_embed_ms": 38.300254821777344, "prefill_forward_ms": 55.10758590698242, "prefill_ms": 93.40784072875977, "step_ms": [20.19651222229004, 19.96950340270996, 19.928319931030273, 19.81692886352539, 19.783552169799805, 19.828704833984375, 19.891616821289062, 21.26153564453125, 20.43948745727539, 20.241151809692383], "step_mean_ms": 20.135731315612794, "step_p50_ms": 19.948911666870117, "step_p95_ms": 20.891613960266113, "sample_ms": 201.35731315612793, "sample_ms_from_mean": 201.35731315612793, "output_transfer_ms": 0.05957111716270447, "total_ms": 309.3253653496504, "control_frequency_hz": 3.2328418940672248, "prefill_share": 0.3019727807422934, "sample_share": 0.6509563576479439, "other_share": 0.015328101811145306, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.663509204983711, "prefix_embed_ms": 39.0794563293457, "prefill_forward_ms": 55.17824172973633, "prefill_ms": 94.25769805908203, "step_ms": [20.57097625732422, 22.52239990234375, 20.104511260986328, 20.024864196777344, 19.700639724731445, 19.835519790649414, 19.769119262695312, 20.20636749267578, 19.97555160522461, 19.774751663208008], "step_mean_ms": 20.248470115661622, "step_p50_ms": 20.000207901000977, "step_p95_ms": 21.644259262084958, "sample_ms": 202.4847011566162, "sample_ms_from_mean": 202.4847011566162, "output_transfer_ms": 0.06333552300930023, "total_ms": 311.00234761834145, "control_frequency_hz": 3.215409811720099, "prefill_share": 0.3030771271693229, "sample_share": 0.6510712948221958, "other_share": 0.014575786033014662, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.770875796675682, "prefix_embed_ms": 40.59452819824219, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 95.66831970214844, "step_ms": [20.61782455444336, 20.293472290039062, 19.86083221435547, 20.145503997802734, 20.069183349609375, 20.199296951293945, 20.193567276000977, 19.88528060913086, 21.47091293334961, 20.220447540283203], "step_mean_ms": 20.29563217163086, "step_p50_ms": 20.19643211364746, "step_p95_ms": 21.087023162841795, "sample_ms": 202.9563217163086, "sample_ms_from_mean": 202.9563217163086, "output_transfer_ms": 0.05959905683994293, "total_ms": 313.912583515048, "control_frequency_hz": 3.1856002355893547, "prefill_share": 0.30476102178160175, "sample_share": 0.6465377062738216, "other_share": 0.01738530893526209, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.593326598405838, "prefix_embed_ms": 38.80681610107422, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 93.85910415649414, "step_ms": [20.36275291442871, 20.251712799072266, 19.955167770385742, 19.696767807006836, 19.85968017578125, 19.712127685546875, 19.9465274810791, 19.95142364501953, 19.687999725341797, 19.82598304748535], "step_mean_ms": 19.925014305114747, "step_p50_ms": 19.903103828430176, "step_p95_ms": 20.31278486251831, "sample_ms": 199.25014305114746, "sample_ms_from_mean": 199.25014305114746, "output_transfer_ms": 0.05722232162952423, "total_ms": 307.12221935391426, "control_frequency_hz": 3.2560327354486964, "prefill_share": 0.3056083156534337, "sample_share": 0.6487649883173717, "other_share": 0.014204192830510354, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.883224964141846, "prefix_embed_ms": 39.452449798583984, "prefill_forward_ms": 55.09324645996094, "prefill_ms": 94.54569625854492, "step_ms": [21.033504486083984, 20.011615753173828, 20.299232482910156, 20.164384841918945, 19.93231964111328, 20.013856887817383, 19.798879623413086, 19.972511291503906, 19.99875259399414, 19.704063415527344], "step_mean_ms": 20.092912101745604, "step_p50_ms": 20.005184173583984, "step_p95_ms": 20.70308208465576, "sample_ms": 200.92912101745605, "sample_ms_from_mean": 200.92912101745605, "output_transfer_ms": 0.06403587758541107, "total_ms": 309.9956400692463, "control_frequency_hz": 3.2258518209372937, "prefill_share": 0.3049904064374114, "sample_share": 0.6481675709134904, "other_share": 0.014753633149474052, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.530963376164436, "prefix_embed_ms": 38.44841766357422, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 93.54269027709961, "step_ms": [20.57663917541504, 20.234752655029297, 19.825183868408203, 19.891712188720703, 19.802879333496094, 19.979328155517578, 20.045984268188477, 19.91516876220703, 20.114784240722656, 19.84771156311035], "step_mean_ms": 20.023414421081544, "step_p50_ms": 19.947248458862305, "step_p95_ms": 20.422790241241454, "sample_ms": 200.23414421081543, "sample_ms_from_mean": 200.23414421081543, "output_transfer_ms": 0.06070360541343689, "total_ms": 307.92349949479103, "control_frequency_hz": 3.2475598700349155, "prefill_share": 0.303785487079014, "sample_share": 0.6502723713498283, "other_share": 0.014792628795046456, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.878285229206085, "prefix_embed_ms": 38.68844985961914, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 93.77350616455078, "step_ms": [20.30246353149414, 20.227392196655273, 19.833375930786133, 19.814815521240234, 19.916576385498047, 19.835647583007812, 20.053312301635742, 19.75142478942871, 19.81769561767578, 19.79747200012207], "step_mean_ms": 19.935017585754395, "step_p50_ms": 19.834511756896973, "step_p95_ms": 20.26868143081665, "sample_ms": 199.35017585754395, "sample_ms_from_mean": 199.35017585754395, "output_transfer_ms": 0.06852857768535614, "total_ms": 307.46547318995, "control_frequency_hz": 3.252397707049881, "prefill_share": 0.30498873643161284, "sample_share": 0.6483660548590665, "other_share": 0.01429421429133487, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.543506428599358, "prefix_embed_ms": 39.03974533081055, "prefill_forward_ms": 55.147518157958984, "prefill_ms": 94.18726348876953, "step_ms": [21.184831619262695, 19.92300796508789, 20.114463806152344, 19.904447555541992, 20.00271987915039, 19.9814395904541, 19.756128311157227, 20.06380844116211, 19.778400421142578, 19.920703887939453], "step_mean_ms": 20.062995147705077, "step_p50_ms": 19.952223777770996, "step_p95_ms": 20.703166103363035, "sample_ms": 200.62995147705078, "sample_ms_from_mean": 200.62995147705078, "output_transfer_ms": 0.061159953474998474, "total_ms": 308.8859673589468, "control_frequency_hz": 3.2374406922731165, "prefill_share": 0.30492567951239247, "sample_share": 0.6495275690005851, "other_share": 0.014452213705987349, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.505407884716988, "prefix_embed_ms": 38.58163070678711, "prefill_forward_ms": 55.07788848876953, "prefill_ms": 93.65951919555664, "step_ms": [20.477439880371094, 19.897247314453125, 19.899520874023438, 19.944543838500977, 19.73664093017578, 19.988191604614258, 19.794336318969727, 19.84022331237793, 19.9050235748291, 19.750207901000977], "step_mean_ms": 19.923337554931642, "step_p50_ms": 19.89838409423828, "step_p95_ms": 20.257278156280517, "sample_ms": 199.2333755493164, "sample_ms_from_mean": 199.2333755493164, "output_transfer_ms": 0.06277114152908325, "total_ms": 307.00672790408134, "control_frequency_hz": 3.257257607437293, "prefill_share": 0.30507318140864603, "sample_share": 0.648954428163422, "other_share": 0.014806366505369985, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.928887709975243, "prefix_embed_ms": 38.793697357177734, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 93.8552017211914, "step_ms": [20.337631225585938, 20.079391479492188, 19.842527389526367, 19.991968154907227, 19.750911712646484, 20.15590476989746, 20.040735244750977, 19.67375946044922, 19.964191436767578, 19.718303680419922], "step_mean_ms": 19.955532455444335, "step_p50_ms": 19.978079795837402, "step_p95_ms": 20.255854320526122, "sample_ms": 199.55532455444336, "sample_ms_from_mean": 199.55532455444336, "output_transfer_ms": 0.05945749580860138, "total_ms": 307.9201355576515, "control_frequency_hz": 3.2475953486736864, "prefill_share": 0.30480371655857175, "sample_share": 0.6480749438260781, "other_share": 0.014683236184099429, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.57905687391758, "prefix_embed_ms": 38.518497467041016, "prefill_forward_ms": 55.02668762207031, "prefill_ms": 93.54518508911133, "step_ms": [20.216096878051758, 20.025375366210938, 19.725664138793945, 19.982912063598633, 20.05353546142578, 20.68400001525879, 20.086559295654297, 20.191743850708008, 20.11008071899414, 20.518783569335938], "step_mean_ms": 20.159475135803223, "step_p50_ms": 20.09832000732422, "step_p95_ms": 20.609652614593507, "sample_ms": 201.59475135803223, "sample_ms_from_mean": 201.59475135803223, "output_transfer_ms": 0.0594407320022583, "total_ms": 309.2741761356592, "control_frequency_hz": 3.2333769747441266, "prefill_share": 0.30246684756531017, "sample_share": 0.6518318272703286, "other_share": 0.01453642893425355, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.62027907371521, "prefix_embed_ms": 38.95948791503906, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 94.09369659423828, "step_ms": [21.140512466430664, 20.607328414916992, 21.06502342224121, 20.730112075805664, 20.579103469848633, 20.393312454223633, 20.2957763671875, 20.350400924682617, 19.847488403320312, 19.71228790283203], "step_mean_ms": 20.472134590148926, "step_p50_ms": 20.486207962036133, "step_p95_ms": 21.10654239654541, "sample_ms": 204.72134590148926, "sample_ms_from_mean": 204.72134590148926, "output_transfer_ms": 0.060692429542541504, "total_ms": 313.11947479844093, "control_frequency_hz": 3.1936691278743137, "prefill_share": 0.3005041339405913, "sample_share": 0.6538122422224649, "other_share": 0.01476580401915858, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.778475388884544, "prefix_embed_ms": 38.44598388671875, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 93.60271835327148, "step_ms": [20.50147247314453, 20.296064376831055, 19.96291160583496, 19.951839447021484, 20.14249610900879, 19.98419189453125, 20.121824264526367, 19.918560028076172, 20.037120819091797, 19.737728118896484], "step_mean_ms": 20.06542091369629, "step_p50_ms": 20.010656356811523, "step_p95_ms": 20.409038829803468, "sample_ms": 200.6542091369629, "sample_ms_from_mean": 200.6542091369629, "output_transfer_ms": 0.05982629954814911, "total_ms": 308.704299852252, "control_frequency_hz": 3.2393458739596657, "prefill_share": 0.3032115794890787, "sample_share": 0.6499883844604606, "other_share": 0.014930374069265867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.853662922978401, "prefix_embed_ms": 38.6998405456543, "prefill_forward_ms": 55.02975845336914, "prefill_ms": 93.72959899902344, "step_ms": [20.188575744628906, 19.952543258666992, 19.811647415161133, 19.60665512084961, 19.919391632080078, 19.857759475708008, 19.946847915649414, 19.93270492553711, 19.986528396606445, 20.08255958557129], "step_mean_ms": 19.928521347045898, "step_p50_ms": 19.93977642059326, "step_p95_ms": 20.14086847305298, "sample_ms": 199.28521347045898, "sample_ms_from_mean": 199.28521347045898, "output_transfer_ms": 0.060051679611206055, "total_ms": 307.15495347976685, "control_frequency_hz": 3.2556857334416156, "prefill_share": 0.30515411826232414, "sample_share": 0.6488100263816402, "other_share": 0.013759916158972912, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.754624217748642, "prefix_embed_ms": 38.87081527709961, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 93.94153594970703, "step_ms": [20.360607147216797, 19.970848083496094, 20.161823272705078, 19.90822410583496, 20.004703521728516, 20.45471954345703, 21.011871337890625, 20.310047149658203, 19.99388885498047, 19.889856338500977], "step_mean_ms": 20.206658935546876, "step_p50_ms": 20.083263397216797, "step_p95_ms": 20.76115303039551, "sample_ms": 202.06658935546875, "sample_ms_from_mean": 202.06658935546875, "output_transfer_ms": 0.05973316729068756, "total_ms": 310.3072736412287, "control_frequency_hz": 3.222612181357311, "prefill_share": 0.30273713808694164, "sample_share": 0.6511822523022591, "other_share": 0.014452741949577354, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.587028995156288, "prefix_embed_ms": 38.96742248535156, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.99513626098633, "step_ms": [20.56447982788086, 19.917152404785156, 20.08255958557129, 19.971967697143555, 19.79782485961914, 20.171199798583984, 19.949344635009766, 19.77008056640625, 19.956287384033203, 19.80188751220703], "step_mean_ms": 19.998278427124024, "step_p50_ms": 19.952816009521484, "step_p95_ms": 20.387503814697265, "sample_ms": 199.98278427124023, "sample_ms_from_mean": 199.98278427124023, "output_transfer_ms": 0.06003864109516144, "total_ms": 308.07712487876415, "control_frequency_hz": 3.2459404455735696, "prefill_share": 0.30510261447673437, "sample_share": 0.6491322078844326, "other_share": 0.014451370617140642, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.64822992682457, "prefix_embed_ms": 38.499488830566406, "prefill_forward_ms": 54.998016357421875, "prefill_ms": 93.49750518798828, "step_ms": [20.247295379638672, 19.9652156829834, 19.752511978149414, 19.783456802368164, 19.85683250427246, 19.740480422973633, 19.86252784729004, 19.631519317626953, 19.771360397338867, 20.246912002563477], "step_mean_ms": 19.885811233520506, "step_p50_ms": 19.820144653320312, "step_p95_ms": 20.247122859954835, "sample_ms": 198.85811233520508, "sample_ms_from_mean": 198.85811233520508, "output_transfer_ms": 0.07387995719909668, "total_ms": 306.58723041415215, "control_frequency_hz": 3.2617144512155773, "prefill_share": 0.3049621638242648, "sample_share": 0.648618378745189, "other_share": 0.01470871112552038, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.71783697605133, "prefix_embed_ms": 39.301761627197266, "prefill_forward_ms": 55.0830078125, "prefill_ms": 94.38476943969727, "step_ms": [20.213407516479492, 20.056224822998047, 20.140064239501953, 19.71891212463379, 20.06051254272461, 19.789440155029297, 19.994976043701172, 20.014751434326172, 19.764352798461914, 20.237951278686523], "step_mean_ms": 19.9990592956543, "step_p50_ms": 20.03548812866211, "step_p95_ms": 20.22690658569336, "sample_ms": 199.99059295654297, "sample_ms_from_mean": 199.99059295654297, "output_transfer_ms": 0.06290338933467865, "total_ms": 308.59838984906673, "control_frequency_hz": 3.2404576073423224, "prefill_share": 0.30584984414811817, "sample_share": 0.6480610383429315, "other_share": 0.014395042986495106, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.796947240829468, "prefix_embed_ms": 38.654239654541016, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 93.70243072509766, "step_ms": [20.617311477661133, 20.01103973388672, 21.34931182861328, 19.909727096557617, 19.906112670898438, 20.07539176940918, 20.118751525878906, 20.27289581298828, 20.123231887817383, 20.410783767700195], "step_mean_ms": 20.279455757141115, "step_p50_ms": 20.120991706848145, "step_p95_ms": 21.019911670684813, "sample_ms": 202.79455757141113, "sample_ms_from_mean": 202.79455757141113, "output_transfer_ms": 0.06149709224700928, "total_ms": 310.8659405261278, "control_frequency_hz": 3.2168207244175453, "prefill_share": 0.3014239210847935, "sample_share": 0.6523537355948024, "other_share": 0.01450949527924706, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.227324441075325, "prefix_embed_ms": 39.22934341430664, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 94.28163146972656, "step_ms": [20.55411148071289, 20.31350326538086, 19.75542449951172, 20.04364776611328, 19.769376754760742, 20.064287185668945, 20.025312423706055, 19.80646324157715, 20.059743881225586, 19.730016708374023], "step_mean_ms": 20.012188720703126, "step_p50_ms": 20.034480094909668, "step_p95_ms": 20.445837783813477, "sample_ms": 200.12188720703125, "sample_ms_from_mean": 200.12188720703125, "output_transfer_ms": 0.06265565752983093, "total_ms": 309.1558087617159, "control_frequency_hz": 3.234614947088888, "prefill_share": 0.3049647743879036, "sample_share": 0.6473172475994998, "other_share": 0.014433854580401168, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.967915713787079, "prefix_embed_ms": 38.3699836730957, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 93.50521469116211, "step_ms": [20.38809585571289, 20.224960327148438, 19.971071243286133, 19.991680145263672, 20.080415725708008, 19.722848892211914, 19.97203254699707, 19.911104202270508, 19.703872680664062, 19.8450870513916], "step_mean_ms": 19.98111686706543, "step_p50_ms": 19.9715518951416, "step_p95_ms": 20.314684867858887, "sample_ms": 199.8111686706543, "sample_ms_from_mean": 199.8111686706543, "output_transfer_ms": 0.06080791354179382, "total_ms": 307.7455163002014, "control_frequency_hz": 3.2494380812505943, "prefill_share": 0.3038394054129747, "sample_share": 0.6492740205376097, "other_share": 0.014298857588435503, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.449053555727005, "prefix_embed_ms": 38.601470947265625, "prefill_forward_ms": 54.995967864990234, "prefill_ms": 93.59743881225586, "step_ms": [20.293312072753906, 20.08246421813965, 20.035167694091797, 19.744159698486328, 20.065919876098633, 19.91801643371582, 19.652896881103516, 19.727359771728516, 19.815839767456055, 19.99567985534668], "step_mean_ms": 19.93308162689209, "step_p50_ms": 19.95684814453125, "step_p95_ms": 20.19843053817749, "sample_ms": 199.3308162689209, "sample_ms_from_mean": 199.3308162689209, "output_transfer_ms": 0.06136856973171234, "total_ms": 307.5193986296654, "control_frequency_hz": 3.2518273788778584, "prefill_share": 0.3043627141225387, "sample_share": 0.648189405797349, "other_share": 0.0165216290278599, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.681319817900658, "prefix_embed_ms": 38.99033737182617, "prefill_forward_ms": 55.230464935302734, "prefill_ms": 94.2208023071289, "step_ms": [20.36751937866211, 19.736480712890625, 19.939552307128906, 19.818592071533203, 19.73161506652832, 19.956256866455078, 19.83852767944336, 20.090208053588867, 19.821151733398438, 19.797183990478516], "step_mean_ms": 19.909708786010743, "step_p50_ms": 19.8298397064209, "step_p95_ms": 20.242729282379152, "sample_ms": 199.09708786010742, "sample_ms_from_mean": 199.09708786010742, "output_transfer_ms": 0.06191618740558624, "total_ms": 307.54495970904827, "control_frequency_hz": 3.251557108742885, "prefill_share": 0.306364319533203, "sample_share": 0.647375551361539, "other_share": 0.014579440810044855, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.63662751019001, "prefix_embed_ms": 38.7608642578125, "prefill_forward_ms": 55.011329650878906, "prefill_ms": 93.7721939086914, "step_ms": [20.321056365966797, 19.912063598632812, 19.763647079467773, 20.20140838623047, 19.869792938232422, 19.948991775512695, 20.123519897460938, 19.864543914794922, 19.975296020507812, 19.66524887084961], "step_mean_ms": 19.964556884765624, "step_p50_ms": 19.930527687072754, "step_p95_ms": 20.26721477508545, "sample_ms": 199.64556884765625, "sample_ms_from_mean": 199.64556884765625, "output_transfer_ms": 0.05785934627056122, "total_ms": 307.5661826878786, "control_frequency_hz": 3.251332741658437, "prefill_share": 0.3048846043124722, "sample_share": 0.6491141747214084, "other_share": 0.014481218436131775, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.946253150701523, "prefix_embed_ms": 38.46684646606445, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.50479888916016, "step_ms": [20.216096878051758, 20.044063568115234, 19.76367950439453, 19.924928665161133, 19.879104614257812, 19.50441551208496, 19.66111946105957, 19.623104095458984, 19.92380714416504, 20.130239486694336], "step_mean_ms": 19.867055892944336, "step_p50_ms": 19.901455879211426, "step_p95_ms": 20.177461051940917, "sample_ms": 198.67055892944336, "sample_ms_from_mean": 198.67055892944336, "output_transfer_ms": 0.06503798067569733, "total_ms": 306.55799619853497, "control_frequency_hz": 3.262025497297333, "prefill_share": 0.3050150380960998, "sample_share": 0.6480684287901566, "other_share": 0.01425944618232444, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.667892009019852, "prefix_embed_ms": 38.54345703125, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 93.64284896850586, "step_ms": [20.357791900634766, 20.349279403686523, 20.09177589416504, 20.065824508666992, 19.962112426757812, 19.753408432006836, 20.139999389648438, 19.90323257446289, 19.619903564453125, 19.738143920898438], "step_mean_ms": 19.998147201538085, "step_p50_ms": 20.013968467712402, "step_p95_ms": 20.353961277008057, "sample_ms": 199.98147201538086, "sample_ms_from_mean": 199.98147201538086, "output_transfer_ms": 0.05647540092468262, "total_ms": 307.7642284333706, "control_frequency_hz": 3.249240514696447, "prefill_share": 0.30426813878006964, "sample_share": 0.6497879010610093, "other_share": 0.014347151590735567, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.489720687270164, "prefix_embed_ms": 38.59529495239258, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 93.67113494873047, "step_ms": [20.438495635986328, 19.834911346435547, 19.884767532348633, 19.69036865234375, 19.954944610595703, 20.58220863342285, 19.63644790649414, 19.966495513916016, 19.87468719482422, 20.24345588684082], "step_mean_ms": 20.0106782913208, "step_p50_ms": 19.919856071472168, "step_p95_ms": 20.517537784576415, "sample_ms": 200.106782913208, "sample_ms_from_mean": 200.106782913208, "output_transfer_ms": 0.06692856550216675, "total_ms": 308.4747660905123, "control_frequency_hz": 3.241756246948839, "prefill_share": 0.3036589868788347, "sample_share": 0.6486974135657272, "other_share": 0.01666327214036443, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.042713955044746, "prefix_embed_ms": 39.85014343261719, "prefill_forward_ms": 55.1802864074707, "prefill_ms": 95.03042984008789, "step_ms": [20.904319763183594, 20.781055450439453, 20.67670440673828, 20.512351989746094, 20.47555160522461, 20.838655471801758, 20.95699119567871, 20.823040008544922, 20.846399307250977, 20.334911346435547], "step_mean_ms": 20.714998054504395, "step_p50_ms": 20.802047729492188, "step_p95_ms": 20.933289051055908, "sample_ms": 207.14998054504395, "sample_ms_from_mean": 207.14998054504395, "output_transfer_ms": 0.06398186087608337, "total_ms": 317.0000445097685, "control_frequency_hz": 3.154573689560427, "prefill_share": 0.2997804936811594, "sample_share": 0.65346987842035, "other_share": 0.014867311189196345, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.177303105592728, "prefix_embed_ms": 39.0615348815918, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 94.14249420166016, "step_ms": [20.42367935180664, 20.16489601135254, 20.185535430908203, 20.01148796081543, 20.125696182250977, 19.936288833618164, 20.372352600097656, 20.22287940979004, 20.007871627807617, 20.62544059753418], "step_mean_ms": 20.207612800598145, "step_p50_ms": 20.17521572113037, "step_p95_ms": 20.53464803695679, "sample_ms": 202.07612800598145, "sample_ms_from_mean": 202.07612800598145, "output_transfer_ms": 0.06715208292007446, "total_ms": 311.13835982978344, "control_frequency_hz": 3.2140042151892705, "prefill_share": 0.3025743731925672, "sample_share": 0.649473527200351, "other_share": 0.015026377448884073, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.406367480754852, "prefix_embed_ms": 40.68668746948242, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 95.73795318603516, "step_ms": [20.752960205078125, 20.296960830688477, 19.948959350585938, 20.213151931762695, 20.233407974243164, 20.588607788085938, 20.992351531982422, 20.21321678161621, 20.153152465820312, 20.120159149169922], "step_mean_ms": 20.35129280090332, "step_p50_ms": 20.223312377929688, "step_p95_ms": 20.88462543487549, "sample_ms": 203.5129280090332, "sample_ms_from_mean": 203.5129280090332, "output_transfer_ms": 0.06241165101528168, "total_ms": 314.33726474642754, "control_frequency_hz": 3.1812963722474623, "prefill_share": 0.30457080315713103, "sample_share": 0.6474349395805963, "other_share": 0.014689968188512469, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.046839714050293, "prefix_embed_ms": 39.14992141723633, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 94.18787384033203, "step_ms": [20.371871948242188, 19.93516731262207, 19.9399356842041, 19.78892707824707, 20.25155258178711, 19.907424926757812, 19.893983840942383, 19.965599060058594, 19.87900733947754, 20.188640594482422], "step_mean_ms": 20.012211036682128, "step_p50_ms": 19.937551498413086, "step_p95_ms": 20.3177282333374, "sample_ms": 200.1221103668213, "sample_ms_from_mean": 200.1221103668213, "output_transfer_ms": 0.07927045226097107, "total_ms": 308.8683560490608, "control_frequency_hz": 3.237625287328429, "prefill_share": 0.30494504210515877, "sample_share": 0.6479204050771513, "other_share": 0.014350002480967051, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.835431352257729, "prefix_embed_ms": 38.19232177734375, "prefill_forward_ms": 55.15468978881836, "prefill_ms": 93.34701156616211, "step_ms": [20.599327087402344, 19.982624053955078, 20.030879974365234, 19.898271560668945, 20.454879760742188, 20.61315155029297, 20.448640823364258, 20.526592254638672, 20.451679229736328, 20.28044891357422], "step_mean_ms": 20.328649520874023, "step_p50_ms": 20.450160026550293, "step_p95_ms": 20.606930541992188, "sample_ms": 203.28649520874023, "sample_ms_from_mean": 203.28649520874023, "output_transfer_ms": 0.06253644824028015, "total_ms": 311.0486324876547, "control_frequency_hz": 3.2149313501312027, "prefill_share": 0.30010423392511454, "sample_share": 0.6535521265048755, "other_share": 0.01452235258559967, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.38929633796215, "prefix_embed_ms": 39.43308639526367, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 94.50482940673828, "step_ms": [20.555007934570312, 20.022592544555664, 19.813695907592773, 19.89014434814453, 19.798303604125977, 19.918399810791016, 19.88617515563965, 19.762432098388672, 20.05516815185547, 19.806272506713867], "step_mean_ms": 19.950819206237792, "step_p50_ms": 19.88815975189209, "step_p95_ms": 20.330080032348633, "sample_ms": 199.50819206237793, "sample_ms_from_mean": 199.50819206237793, "output_transfer_ms": 0.05835108458995819, "total_ms": 308.92184749245644, "control_frequency_hz": 3.23706467547401, "prefill_share": 0.3059182449342499, "sample_share": 0.6458209209928079, "other_share": 0.01444112365959178, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.057331994175911, "prefix_embed_ms": 38.765342712402344, "prefill_forward_ms": 55.02463912963867, "prefill_ms": 93.78998184204102, "step_ms": [20.242399215698242, 20.06172752380371, 19.895488739013672, 20.030559539794922, 20.021535873413086, 19.89891242980957, 20.00774383544922, 19.650400161743164, 19.848384857177734, 19.89187240600586], "step_mean_ms": 19.95490245819092, "step_p50_ms": 19.953328132629395, "step_p95_ms": 20.1610969543457, "sample_ms": 199.54902458190918, "sample_ms_from_mean": 199.54902458190918, "output_transfer_ms": 0.06812810897827148, "total_ms": 307.985857129097, "control_frequency_hz": 3.246902339352663, "prefill_share": 0.30452691145076677, "sample_share": 0.647916194730543, "other_share": 0.01468051372273694, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.005800053477287, "prefix_embed_ms": 38.46745681762695, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.51872253417969, "step_ms": [20.249408721923828, 20.00601577758789, 20.19385528564453, 19.97750473022461, 20.157791137695312, 19.87830352783203, 20.075103759765625, 20.193279266357422, 19.836959838867188, 19.995296478271484], "step_mean_ms": 20.05635185241699, "step_p50_ms": 20.040559768676758, "step_p95_ms": 20.224409675598146, "sample_ms": 200.56351852416992, "sample_ms_from_mean": 200.56351852416992, "output_transfer_ms": 0.058535486459732056, "total_ms": 308.6708355695009, "control_frequency_hz": 3.2396970648522383, "prefill_share": 0.3029723309027128, "sample_share": 0.6497650422791909, "other_share": 0.014657228509674356, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.866956621408463, "prefix_embed_ms": 38.634273529052734, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.67632293701172, "step_ms": [20.453567504882812, 19.746431350708008, 19.873247146606445, 19.718303680419922, 20.006784439086914, 20.25529670715332, 19.683616638183594, 19.950559616088867, 19.964351654052734, 19.857215881347656], "step_mean_ms": 19.950937461853027, "step_p50_ms": 19.911903381347656, "step_p95_ms": 20.364345645904542, "sample_ms": 199.50937461853027, "sample_ms_from_mean": 199.50937461853027, "output_transfer_ms": 0.06836093962192535, "total_ms": 307.506175711751, "control_frequency_hz": 3.2519672090663194, "prefill_share": 0.3046323304570692, "sample_share": 0.6487979441607886, "other_share": 0.014260398462010564, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.007170960307121, "prefix_embed_ms": 39.922367095947266, "prefill_forward_ms": 55.09222412109375, "prefill_ms": 95.01459121704102, "step_ms": [20.533599853515625, 22.276447296142578, 19.81884765625, 19.9751033782959, 19.911968231201172, 20.0993595123291, 21.98700714111328, 19.834304809570312, 20.093568801879883, 19.999935150146484], "step_mean_ms": 20.453014183044434, "step_p50_ms": 20.046751976013184, "step_p95_ms": 22.146199226379395, "sample_ms": 204.53014183044434, "sample_ms_from_mean": 204.53014183044434, "output_transfer_ms": 0.061646103858947754, "total_ms": 314.1318969428539, "control_frequency_hz": 3.1833761860290086, "prefill_share": 0.3024671870056094, "sample_share": 0.6510963828281722, "other_share": 0.014383597702669695, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.194079950451851, "prefix_embed_ms": 38.59052658081055, "prefill_forward_ms": 55.04512023925781, "prefill_ms": 93.63564682006836, "step_ms": [20.347455978393555, 20.399808883666992, 22.019296646118164, 20.05731201171875, 20.147199630737305, 19.853727340698242, 20.178848266601562, 20.03843116760254, 19.751392364501953, 19.91859245300293], "step_mean_ms": 20.2712064743042, "step_p50_ms": 20.102255821228027, "step_p95_ms": 21.290527153015134, "sample_ms": 202.712064743042, "sample_ms_from_mean": 202.712064743042, "output_transfer_ms": 0.060541555285453796, "total_ms": 311.1633285880089, "control_frequency_hz": 3.213746313030463, "prefill_share": 0.3009212147362173, "sample_share": 0.6514651506747438, "other_share": 0.014657882533452847, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.6992626786232, "prefix_embed_ms": 39.35619354248047, "prefill_forward_ms": 55.06252670288086, "prefill_ms": 94.41872024536133, "step_ms": [20.681503295898438, 20.192096710205078, 20.463520050048828, 20.369855880737305, 20.671232223510742, 20.786399841308594, 20.22211265563965, 20.367647171020508, 21.325727462768555, 20.00249671936035], "step_mean_ms": 20.508259201049803, "step_p50_ms": 20.416687965393066, "step_p95_ms": 21.083030033111573, "sample_ms": 205.08259201049805, "sample_ms_from_mean": 205.08259201049805, "output_transfer_ms": 0.06687827408313751, "total_ms": 313.8462323695421, "control_frequency_hz": 3.186273712607573, "prefill_share": 0.30084388629584324, "sample_share": 0.6534492718364738, "other_share": 0.014589243676454493, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.17763838171959, "prefix_embed_ms": 38.492767333984375, "prefill_forward_ms": 55.160831451416016, "prefill_ms": 93.65359878540039, "step_ms": [20.459360122680664, 20.200159072875977, 19.910240173339844, 20.71459197998047, 22.67100715637207, 20.15011215209961, 20.34547233581543, 20.0413761138916, 19.811935424804688, 20.048736572265625], "step_mean_ms": 20.435299110412597, "step_p50_ms": 20.175135612487793, "step_p95_ms": 21.790620326995846, "sample_ms": 204.35299110412598, "sample_ms_from_mean": 204.35299110412598, "output_transfer_ms": 0.06144493818283081, "total_ms": 312.9462283104658, "control_frequency_hz": 3.1954371375517137, "prefill_share": 0.2992641876242365, "sample_share": 0.6529971369438992, "other_share": 0.01502032833696186, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.080244392156601, "prefix_embed_ms": 38.40060806274414, "prefill_forward_ms": 55.018497467041016, "prefill_ms": 93.41910552978516, "step_ms": [20.352800369262695, 19.842304229736328, 19.994848251342773, 19.862112045288086, 19.98873519897461, 19.909536361694336, 20.07196807861328, 19.94550323486328, 19.830175399780273, 19.853023529052734], "step_mean_ms": 19.96510066986084, "step_p50_ms": 19.92751979827881, "step_p95_ms": 20.22642583847046, "sample_ms": 199.6510066986084, "sample_ms_from_mean": 199.6510066986084, "output_transfer_ms": 0.05817227065563202, "total_ms": 308.3357997238636, "control_frequency_hz": 3.2432173004093925, "prefill_share": 0.30297845924296996, "sample_share": 0.6475115989690783, "other_share": 0.016628853468360294, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.740067645907402, "prefix_embed_ms": 39.67203140258789, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 94.74787139892578, "step_ms": [20.7607364654541, 20.135520935058594, 20.02841567993164, 20.052288055419922, 19.909727096557617, 20.176607131958008, 19.961599349975586, 20.104639053344727, 23.055360794067383, 20.486303329467773], "step_mean_ms": 20.467119789123537, "step_p50_ms": 20.12007999420166, "step_p95_ms": 22.022779846191405, "sample_ms": 204.67119789123535, "sample_ms_from_mean": 204.67119789123535, "output_transfer_ms": 0.06072036921977997, "total_ms": 313.79893980920315, "control_frequency_hz": 3.18675391512802, "prefill_share": 0.3019381501305729, "sample_share": 0.652236741193836, "other_share": 0.01459240909704481, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.333947837352753, "prefix_embed_ms": 38.61552047729492, "prefill_forward_ms": 55.040000915527344, "prefill_ms": 93.65552139282227, "step_ms": [20.36579132080078, 20.377119064331055, 20.01068878173828, 20.089696884155273, 22.20809555053711, 19.936800003051758, 20.177888870239258, 20.008607864379883, 20.059999465942383, 20.138912200927734], "step_mean_ms": 20.337360000610353, "step_p50_ms": 20.114304542541504, "step_p95_ms": 21.384156131744383, "sample_ms": 203.37360000610352, "sample_ms_from_mean": 203.37360000610352, "output_transfer_ms": 0.06405822932720184, "total_ms": 311.95695884525776, "control_frequency_hz": 3.2055704213222476, "prefill_share": 0.30021936917034403, "sample_share": 0.6519283966573876, "other_share": 0.014520693484189875, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.117009282112122, "prefix_embed_ms": 38.9648323059082, "prefill_forward_ms": 55.03692626953125, "prefill_ms": 94.00175857543945, "step_ms": [20.351839065551758, 19.698591232299805, 19.97212791442871, 22.01532745361328, 20.01456069946289, 20.153152465820312, 19.693023681640625, 20.056928634643555, 20.04800033569336, 19.831743240356445], "step_mean_ms": 20.183529472351076, "step_p50_ms": 20.031280517578125, "step_p95_ms": 21.266757678985595, "sample_ms": 201.83529472351074, "sample_ms_from_mean": 201.83529472351074, "output_transfer_ms": 0.06763078272342682, "total_ms": 310.67792512476444, "control_frequency_hz": 3.2187674730942413, "prefill_share": 0.3025698029162822, "sample_share": 0.6496608815784262, "other_share": 0.014987327339426556, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.439783334732056, "prefix_embed_ms": 39.09561538696289, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 94.16121673583984, "step_ms": [20.54364776611328, 20.14873504638672, 19.939104080200195, 20.2458553314209, 20.271615982055664, 23.43836784362793, 20.6463680267334, 20.15763282775879, 20.290111541748047, 20.299903869628906], "step_mean_ms": 20.598134231567382, "step_p50_ms": 20.280863761901855, "step_p95_ms": 22.181967926025386, "sample_ms": 205.98134231567383, "sample_ms_from_mean": 205.98134231567383, "output_transfer_ms": 0.07002055644989014, "total_ms": 315.4296576976776, "control_frequency_hz": 3.1702789373041336, "prefill_share": 0.2985173221285625, "sample_share": 0.6530183110210134, "other_share": 0.015145356939012929, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.903684258460999, "prefix_embed_ms": 39.8021125793457, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 94.86361694335938, "step_ms": [22.44384002685547, 19.969343185424805, 20.072383880615234, 20.171104431152344, 20.405439376831055, 20.354368209838867, 19.990175247192383, 20.186304092407227, 19.924320220947266, 20.007423400878906], "step_mean_ms": 20.352470207214356, "step_p50_ms": 20.12174415588379, "step_p95_ms": 21.52655973434448, "sample_ms": 203.52470207214355, "sample_ms_from_mean": 203.52470207214355, "output_transfer_ms": 0.060401856899261475, "total_ms": 313.45987878739834, "control_frequency_hz": 3.190200940128105, "prefill_share": 0.3026339999566575, "sample_share": 0.6492846958898448, "other_share": 0.01629386726075796, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.917002171278, "prefix_embed_ms": 39.02073669433594, "prefill_forward_ms": 55.044097900390625, "prefill_ms": 94.06483459472656, "step_ms": [20.940031051635742, 20.053600311279297, 19.77414321899414, 20.358623504638672, 20.079200744628906, 20.078208923339844, 19.948223114013672, 19.81702423095703, 20.19500732421875, 19.971616744995117], "step_mean_ms": 20.121567916870116, "step_p50_ms": 20.06590461730957, "step_p95_ms": 20.67839765548706, "sample_ms": 201.21567916870117, "sample_ms_from_mean": 201.21567916870117, "output_transfer_ms": 0.07029622793197632, "total_ms": 309.9203947931528, "control_frequency_hz": 3.226635022414128, "prefill_share": 0.30351288968093676, "sample_share": 0.6492495574645761, "other_share": 0.015012186060295668, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.194847360253334, "prefix_embed_ms": 40.77900695800781, "prefill_forward_ms": 55.172096252441406, "prefill_ms": 95.95110321044922, "step_ms": [20.762144088745117, 20.306175231933594, 19.98192024230957, 19.999296188354492, 20.231199264526367, 20.055679321289062, 20.986303329467773, 20.457792282104492, 20.390304565429688, 20.31273651123047], "step_mean_ms": 20.348355102539063, "step_p50_ms": 20.30945587158203, "step_p95_ms": 20.885431671142577, "sample_ms": 203.48355102539062, "sample_ms_from_mean": 203.48355102539062, "output_transfer_ms": 0.07175281643867493, "total_ms": 314.3864646553993, "control_frequency_hz": 3.1807985152799287, "prefill_share": 0.3052011266312681, "sample_share": 0.6472401769854501, "other_share": 0.014902709784287163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.264158248901367, "prefix_embed_ms": 38.97993469238281, "prefill_forward_ms": 55.06867218017578, "prefill_ms": 94.0486068725586, "step_ms": [20.441247940063477, 20.45359992980957, 20.155487060546875, 20.595552444458008, 20.077247619628906, 20.024160385131836, 19.99225616455078, 20.311872482299805, 20.350143432617188, 20.196672439575195], "step_mean_ms": 20.259823989868163, "step_p50_ms": 20.2542724609375, "step_p95_ms": 20.53167381286621, "sample_ms": 202.59823989868164, "sample_ms_from_mean": 202.59823989868164, "output_transfer_ms": 0.07327087223529816, "total_ms": 311.6779141128063, "control_frequency_hz": 3.2084403633363245, "prefill_share": 0.301749346405467, "sample_share": 0.6500243704318259, "other_share": 0.01505925831732383, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.68294420838356, "prefix_embed_ms": 38.843231201171875, "prefill_forward_ms": 55.15264129638672, "prefill_ms": 93.9958724975586, "step_ms": [21.327199935913086, 20.454240798950195, 20.149856567382812, 20.721887588500977, 20.854080200195312, 20.46291160583496, 20.341279983520508, 20.046016693115234, 20.07356834411621, 20.80847930908203], "step_mean_ms": 20.523952102661134, "step_p50_ms": 20.458576202392578, "step_p95_ms": 21.114296054840086, "sample_ms": 205.23952102661133, "sample_ms_from_mean": 205.23952102661133, "output_transfer_ms": 0.06297975778579712, "total_ms": 314.6680984646082, "control_frequency_hz": 3.1779516413624416, "prefill_share": 0.2987143372849111, "sample_share": 0.6522412727189608, "other_share": 0.014894363289884156, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.03703847527504, "prefix_embed_ms": 38.765281677246094, "prefill_forward_ms": 55.172096252441406, "prefill_ms": 93.9373779296875, "step_ms": [21.121503829956055, 20.4083194732666, 21.456960678100586, 20.341440200805664, 20.48784065246582, 20.21824073791504, 20.039104461669922, 20.032608032226562, 19.93961524963379, 20.23744010925293], "step_mean_ms": 20.428307342529298, "step_p50_ms": 20.289440155029297, "step_p95_ms": 21.30600509643555, "sample_ms": 204.28307342529297, "sample_ms_from_mean": 204.28307342529297, "output_transfer_ms": 0.06156601011753082, "total_ms": 312.92907148599625, "control_frequency_hz": 3.1956123323772125, "prefill_share": 0.3001874433832884, "sample_share": 0.6528095087337858, "other_share": 0.01473182284960542, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.329879820346832, "prefix_embed_ms": 38.54550552368164, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 93.63977813720703, "step_ms": [20.437088012695312, 19.860671997070312, 20.249568939208984, 20.052480697631836, 19.98041534423828, 20.199647903442383, 19.734495162963867, 20.788768768310547, 20.5883846282959, 19.83020782470703], "step_mean_ms": 20.172172927856444, "step_p50_ms": 20.12606430053711, "step_p95_ms": 20.698595905303954, "sample_ms": 201.72172927856445, "sample_ms_from_mean": 201.72172927856445, "output_transfer_ms": 0.06687641143798828, "total_ms": 310.43049693107605, "control_frequency_hz": 3.221332987209781, "prefill_share": 0.3016449062283903, "sample_share": 0.6498128607620408, "other_share": 0.015050819200141624, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.309115052223206, "prefix_embed_ms": 39.418270111083984, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 94.48387145996094, "step_ms": [20.724863052368164, 21.125728607177734, 20.257280349731445, 20.691680908203125, 20.19379234313965, 21.158111572265625, 20.38572883605957, 20.572383880615234, 20.077632904052734, 20.525312423706055], "step_mean_ms": 20.571251487731935, "step_p50_ms": 20.548848152160645, "step_p95_ms": 21.143539237976075, "sample_ms": 205.71251487731934, "sample_ms_from_mean": 205.71251487731934, "output_transfer_ms": 0.07349997758865356, "total_ms": 315.33546186983585, "control_frequency_hz": 3.171225951151602, "prefill_share": 0.29962970513910037, "sample_share": 0.6523608656556151, "other_share": 0.015083810981928484, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.108886286616325, "prefix_embed_ms": 39.08732986450195, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 94.16419219970703, "step_ms": [20.38332748413086, 19.822784423828125, 19.96329689025879, 19.839584350585938, 19.980960845947266, 20.082015991210938, 19.858272552490234, 20.087072372436523, 19.812448501586914, 21.72675132751465], "step_mean_ms": 20.155651473999022, "step_p50_ms": 19.972128868103027, "step_p95_ms": 21.12221059799194, "sample_ms": 201.55651473999023, "sample_ms_from_mean": 201.55651473999023, "output_transfer_ms": 0.06617605686187744, "total_ms": 310.3955928236246, "control_frequency_hz": 3.2216952273811046, "prefill_share": 0.3033683285999932, "sample_share": 0.6493536615853958, "other_share": 0.014497060024322146, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.061202570796013, "prefix_embed_ms": 38.85299301147461, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 93.93395233154297, "step_ms": [20.326271057128906, 22.278560638427734, 20.262304306030273, 21.161663055419922, 20.510623931884766, 20.220640182495117, 20.295135498046875, 19.870176315307617, 20.050336837768555, 21.9006404876709], "step_mean_ms": 20.687635231018067, "step_p50_ms": 20.31070327758789, "step_p95_ms": 22.108496570587157, "sample_ms": 206.87635231018066, "sample_ms_from_mean": 206.87635231018066, "output_transfer_ms": 0.06323680281639099, "total_ms": 315.63576124608517, "control_frequency_hz": 3.1682088114861955, "prefill_share": 0.2976023754745187, "sample_share": 0.6554274822772369, "other_share": 0.014893804213407828, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.192438960075378, "prefix_embed_ms": 39.235103607177734, "prefill_forward_ms": 55.16697692871094, "prefill_ms": 94.40208053588867, "step_ms": [20.582944869995117, 19.978656768798828, 20.099584579467773, 21.978336334228516, 20.130783081054688, 19.886335372924805, 19.738143920898438, 20.069087982177734, 20.034208297729492, 20.147743225097656], "step_mean_ms": 20.264582443237305, "step_p50_ms": 20.084336280822754, "step_p95_ms": 21.350410175323486, "sample_ms": 202.64582443237305, "sample_ms_from_mean": 202.64582443237305, "output_transfer_ms": 0.06324797868728638, "total_ms": 311.88245862722397, "control_frequency_hz": 3.20633614471805, "prefill_share": 0.3026848029588041, "sample_share": 0.6497506314537058, "other_share": 0.014681385866822518, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.774571284651756, "prefix_embed_ms": 38.45167922973633, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 93.52239990234375, "step_ms": [20.364608764648438, 19.815807342529297, 20.12188720703125, 19.99452781677246, 19.758527755737305, 19.851200103759766, 19.94550323486328, 19.990304946899414, 20.160768508911133, 20.023359298706055], "step_mean_ms": 20.00264949798584, "step_p50_ms": 19.992416381835938, "step_p95_ms": 20.272880649566652, "sample_ms": 200.0264949798584, "sample_ms_from_mean": 200.0264949798584, "output_transfer_ms": 0.06998702883720398, "total_ms": 307.87395499646664, "control_frequency_hz": 3.2480824823635266, "prefill_share": 0.30376846883139913, "sample_share": 0.6497025543526539, "other_share": 0.014553039411297227, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.287914425134659, "prefix_embed_ms": 38.52406311035156, "prefill_forward_ms": 55.01747131347656, "prefill_ms": 93.54153442382812, "step_ms": [20.29523277282715, 19.90457534790039, 19.784223556518555, 20.109024047851562, 20.06470489501953, 19.972415924072266, 19.850688934326172, 20.25926399230957, 20.098432540893555, 20.641855239868164], "step_mean_ms": 20.09804172515869, "step_p50_ms": 20.081568717956543, "step_p95_ms": 20.485875129699707, "sample_ms": 200.9804172515869, "sample_ms_from_mean": 200.9804172515869, "output_transfer_ms": 0.0655241310596466, "total_ms": 309.5469865947962, "control_frequency_hz": 3.2305273296329067, "prefill_share": 0.3021884834119741, "sample_share": 0.6492727306522764, "other_share": 0.015091719724288768, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.83467698097229, "prefix_embed_ms": 38.80652618408203, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 93.8424301147461, "step_ms": [20.163999557495117, 19.985151290893555, 20.044479370117188, 19.85593605041504, 20.12073516845703, 19.923200607299805, 19.93244743347168, 20.844608306884766, 19.865184783935547, 20.114463806152344], "step_mean_ms": 20.08502063751221, "step_p50_ms": 20.01481533050537, "step_p95_ms": 20.538334369659424, "sample_ms": 200.85020637512207, "sample_ms_from_mean": 200.85020637512207, "output_transfer_ms": 0.06186962127685547, "total_ms": 309.03065018355846, "control_frequency_hz": 3.2359249783347335, "prefill_share": 0.3036670636359385, "sample_share": 0.6499361997129436, "other_share": 0.01437225430164615, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.932264849543571, "prefix_embed_ms": 38.55775833129883, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.60902404785156, "step_ms": [20.37731170654297, 19.923295974731445, 20.05353546142578, 19.905471801757812, 19.969024658203125, 19.75984001159668, 19.86809539794922, 20.03708839416504, 19.887104034423828, 20.007999420166016], "step_mean_ms": 19.978876686096193, "step_p50_ms": 19.946160316467285, "step_p95_ms": 20.231612396240234, "sample_ms": 199.7887668609619, "sample_ms_from_mean": 199.7887668609619, "output_transfer_ms": 0.06084330379962921, "total_ms": 308.75556357204914, "control_frequency_hz": 3.238808034520313, "prefill_share": 0.30318165918978685, "sample_share": 0.6470774633161891, "other_share": 0.014136310482625375, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.533556506037712, "prefix_embed_ms": 38.49174499511719, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.57373046875, "step_ms": [20.393856048583984, 19.731840133666992, 19.804096221923828, 20.05379295349121, 20.096864700317383, 19.826335906982422, 19.770143508911133, 19.97148895263672, 20.023775100708008, 19.71651268005371], "step_mean_ms": 19.93887062072754, "step_p50_ms": 19.89891242980957, "step_p95_ms": 20.260209941864012, "sample_ms": 199.3887062072754, "sample_ms_from_mean": 199.3887062072754, "output_transfer_ms": 0.0626053661108017, "total_ms": 309.0821634978056, "control_frequency_hz": 3.235385661479944, "prefill_share": 0.3027471058497827, "sample_share": 0.645099361124056, "other_share": 0.014635477176811618, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.658817365765572, "prefix_embed_ms": 38.31849670410156, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 93.38819122314453, "step_ms": [20.2872314453125, 19.931711196899414, 19.992639541625977, 19.96009635925293, 19.935359954833984, 20.24038314819336, 19.925119400024414, 19.794591903686523, 19.879648208618164, 19.880863189697266], "step_mean_ms": 19.982764434814452, "step_p50_ms": 19.9335355758667, "step_p95_ms": 20.266149711608886, "sample_ms": 199.82764434814453, "sample_ms_from_mean": 199.82764434814453, "output_transfer_ms": 0.07380545139312744, "total_ms": 308.41594375669956, "control_frequency_hz": 3.242374527786641, "prefill_share": 0.3027994924179918, "sample_share": 0.6479160639820319, "other_share": 0.01448526076127916, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.669015347957611, "prefix_embed_ms": 38.29219055175781, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.35574340820312, "step_ms": [22.33417510986328, 19.948640823364258, 19.89913558959961, 19.82486343383789, 20.073440551757812, 19.70684814453125, 20.221343994140625, 20.776832580566406, 20.519264221191406, 20.131200790405273], "step_mean_ms": 20.34357452392578, "step_p50_ms": 20.102320671081543, "step_p95_ms": 21.633370971679685, "sample_ms": 203.4357452392578, "sample_ms_from_mean": 203.4357452392578, "output_transfer_ms": 0.0627078115940094, "total_ms": 311.9320198893547, "control_frequency_hz": 3.2058267065840487, "prefill_share": 0.29928233543102534, "sample_share": 0.6521797451618414, "other_share": 0.014133874694576063, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.444791987538338, "prefix_embed_ms": 38.76451110839844, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.8372802734375, "step_ms": [20.938688278198242, 19.955167770385742, 19.995359420776367, 19.770912170410156, 19.619712829589844, 19.82956886291504, 19.658592224121094, 19.92323112487793, 20.11347198486328, 19.825408935546875], "step_mean_ms": 19.96301136016846, "step_p50_ms": 19.876399993896484, "step_p95_ms": 20.567340946197508, "sample_ms": 199.63011360168457, "sample_ms_from_mean": 199.63011360168457, "output_transfer_ms": 0.08393637835979462, "total_ms": 308.79577063024044, "control_frequency_hz": 3.2383863223224787, "prefill_share": 0.3038813649614409, "sample_share": 0.6464794294113779, "other_share": 0.015543115695607934, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.008623987436295, "prefix_embed_ms": 38.59052658081055, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 93.66226959228516, "step_ms": [20.38153648376465, 19.886783599853516, 19.896352767944336, 19.923616409301758, 19.69740867614746, 19.931520462036133, 19.9215030670166, 19.8656005859375, 20.125247955322266, 19.878368377685547], "step_mean_ms": 19.950793838500978, "step_p50_ms": 19.90892791748047, "step_p95_ms": 20.266206645965575, "sample_ms": 199.50793838500977, "sample_ms_from_mean": 199.50793838500977, "output_transfer_ms": 0.06124749779701233, "total_ms": 309.3408811837435, "control_frequency_hz": 3.2326797420804403, "prefill_share": 0.30278012150825706, "sample_share": 0.6449452708014537, "other_share": 0.016489258392541575, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.875584557652473, "prefix_embed_ms": 38.60927963256836, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 93.68409729003906, "step_ms": [20.314847946166992, 19.998207092285156, 19.762304306030273, 20.650880813598633, 20.309375762939453, 19.706079483032227, 19.86579132080078, 20.125152587890625, 20.298688888549805, 20.726240158081055], "step_mean_ms": 20.1757568359375, "step_p50_ms": 20.211920738220215, "step_p95_ms": 20.692328453063965, "sample_ms": 201.757568359375, "sample_ms_from_mean": 201.757568359375, "output_transfer_ms": 0.059723854064941406, "total_ms": 310.844823718071, "control_frequency_hz": 3.2170392546313615, "prefill_share": 0.3013854185167592, "sample_share": 0.6490620173310797, "other_share": 0.014373247730165654, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.765612125396729, "prefix_embed_ms": 38.62998580932617, "prefill_forward_ms": 55.12704086303711, "prefill_ms": 93.75702667236328, "step_ms": [20.58844757080078, 19.857376098632812, 20.08892822265625, 19.95427131652832, 20.07574462890625, 20.10291290283203, 19.93155288696289, 19.923871994018555, 19.758848190307617, 20.15724754333496], "step_mean_ms": 20.04392013549805, "step_p50_ms": 20.015007972717285, "step_p95_ms": 20.394407558441163, "sample_ms": 200.43920135498047, "sample_ms_from_mean": 200.43920135498047, "output_transfer_ms": 0.06183423101902008, "total_ms": 309.5324635505676, "control_frequency_hz": 3.230678903689959, "prefill_share": 0.30289884814310086, "sample_share": 0.6475546992899992, "other_share": 0.014566450042392848, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.641375556588173, "prefix_embed_ms": 38.446815490722656, "prefill_forward_ms": 55.03180694580078, "prefill_ms": 93.47862243652344, "step_ms": [20.4017276763916, 19.7061767578125, 19.915456771850586, 19.94108772277832, 19.69036865234375, 20.017919540405273, 19.631263732910156, 19.926559448242188, 20.632640838623047, 19.86137580871582], "step_mean_ms": 19.972457695007325, "step_p50_ms": 19.921008110046387, "step_p95_ms": 20.528729915618896, "sample_ms": 199.72457695007324, "sample_ms_from_mean": 199.72457695007324, "output_transfer_ms": 0.06072595715522766, "total_ms": 308.2819748669863, "control_frequency_hz": 3.243783553778867, "prefill_share": 0.3032244180894989, "sample_share": 0.6478632979960893, "other_share": 0.014196983033259041, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.906059294939041, "prefix_embed_ms": 38.988319396972656, "prefill_forward_ms": 55.06252670288086, "prefill_ms": 94.05084609985352, "step_ms": [20.656639099121094, 20.225887298583984, 19.73347282409668, 20.017824172973633, 20.429311752319336, 19.731487274169922, 19.952512741088867, 19.878496170043945, 20.143648147583008, 20.044736862182617], "step_mean_ms": 20.08140163421631, "step_p50_ms": 20.031280517578125, "step_p95_ms": 20.554341793060303, "sample_ms": 200.8140163421631, "sample_ms_from_mean": 200.8140163421631, "output_transfer_ms": 0.06313249468803406, "total_ms": 310.38893200457096, "control_frequency_hz": 3.2217643636380484, "prefill_share": 0.3030096643345146, "sample_share": 0.6469754415702097, "other_share": 0.014674742889544163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.834211483597755, "prefix_embed_ms": 39.756832122802734, "prefill_forward_ms": 55.206912994384766, "prefill_ms": 94.9637451171875, "step_ms": [20.501312255859375, 20.07619285583496, 20.168991088867188, 20.01366424560547, 20.141216278076172, 20.423423767089844, 20.08697509765625, 20.136415481567383, 19.876319885253906, 20.294048309326172], "step_mean_ms": 20.171855926513672, "step_p50_ms": 20.138815879821777, "step_p95_ms": 20.466262435913087, "sample_ms": 201.71855926513672, "sample_ms_from_mean": 201.71855926513672, "output_transfer_ms": 0.06352365016937256, "total_ms": 312.70491145551205, "control_frequency_hz": 3.197903081679829, "prefill_share": 0.3036848531581117, "sample_share": 0.6450764023059959, "other_share": 0.016388843768287937, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.66083274781704, "prefix_embed_ms": 41.46419143676758, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 96.51238250732422, "step_ms": [20.328384399414062, 20.719743728637695, 20.1430721282959, 20.279647827148438, 20.276031494140625, 20.108287811279297, 20.216543197631836, 20.026752471923828, 20.76710319519043, 20.422016143798828], "step_mean_ms": 20.328758239746094, "step_p50_ms": 20.27783966064453, "step_p95_ms": 20.7457914352417, "sample_ms": 203.28758239746094, "sample_ms_from_mean": 203.28758239746094, "output_transfer_ms": 0.061256811022758484, "total_ms": 314.9622641503811, "control_frequency_hz": 3.1749835260345427, "prefill_share": 0.30642522451909876, "sample_share": 0.6454347251593282, "other_share": 0.014097592607589722, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.518424212932587, "prefix_embed_ms": 39.65296173095703, "prefill_forward_ms": 55.209983825683594, "prefill_ms": 94.86294555664062, "step_ms": [20.77020835876465, 20.194303512573242, 20.394367218017578, 20.237855911254883, 20.355424880981445, 20.01603126525879, 20.097312927246094, 20.354944229125977, 20.441024780273438, 20.247135162353516], "step_mean_ms": 20.31086082458496, "step_p50_ms": 20.301039695739746, "step_p95_ms": 20.622075748443603, "sample_ms": 203.1086082458496, "sample_ms_from_mean": 203.1086082458496, "output_transfer_ms": 0.09028986096382141, "total_ms": 313.25903721153736, "control_frequency_hz": 3.192246292082934, "prefill_share": 0.30282588620925127, "sample_share": 0.6483727015629387, "other_share": 0.014935784061646216, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.956469923257828, "prefix_embed_ms": 39.36355209350586, "prefill_forward_ms": 55.33388900756836, "prefill_ms": 94.69744110107422, "step_ms": [20.668703079223633, 20.000768661499023, 20.440351486206055, 20.09004783630371, 20.055072784423828, 20.438495635986328, 20.01692771911621, 20.325727462768555, 20.47420883178711, 20.0665283203125], "step_mean_ms": 20.257683181762694, "step_p50_ms": 20.207887649536133, "step_p95_ms": 20.5811806678772, "sample_ms": 202.57683181762695, "sample_ms_from_mean": 202.57683181762695, "output_transfer_ms": 0.06145983934402466, "total_ms": 313.0452074110508, "control_frequency_hz": 3.19442679947158, "prefill_share": 0.302504043694653, "sample_share": 0.6471168605102746, "other_share": 0.01518312568672146, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.804956778883934, "prefix_embed_ms": 39.1479377746582, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 94.2422103881836, "step_ms": [21.03913688659668, 20.33145523071289, 20.494144439697266, 20.762144088745117, 20.28438377380371, 20.08451271057129, 20.430879592895508, 20.29372787475586, 20.021568298339844, 20.20252799987793], "step_mean_ms": 20.39444808959961, "step_p50_ms": 20.312591552734375, "step_p95_ms": 20.914490127563475, "sample_ms": 203.9444808959961, "sample_ms_from_mean": 203.9444808959961, "output_transfer_ms": 0.06094388663768768, "total_ms": 313.73958103358746, "control_frequency_hz": 3.187356841319122, "prefill_share": 0.300383554021813, "sample_share": 0.6500438364331301, "other_share": 0.014939106721712553, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.758884251117706, "prefix_embed_ms": 39.117374420166016, "prefill_forward_ms": 55.1096305847168, "prefill_ms": 94.22700500488281, "step_ms": [21.530784606933594, 20.155616760253906, 20.728992462158203, 20.41926383972168, 20.14179229736328, 20.598432540893555, 20.17206382751465, 20.328704833984375, 20.197792053222656, 20.087936401367188], "step_mean_ms": 20.43613796234131, "step_p50_ms": 20.263248443603516, "step_p95_ms": 21.169978141784668, "sample_ms": 204.3613796234131, "sample_ms_from_mean": 204.3613796234131, "output_transfer_ms": 0.06768479943275452, "total_ms": 314.19876031577587, "control_frequency_hz": 3.182698744562138, "prefill_share": 0.2998961705328908, "sample_share": 0.6504207063644233, "other_share": 0.015225415377583582, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.972343385219574, "prefix_embed_ms": 39.19855880737305, "prefill_forward_ms": 55.12192153930664, "prefill_ms": 94.32048034667969, "step_ms": [20.782272338867188, 20.339168548583984, 20.227584838867188, 20.339231491088867, 20.19715118408203, 20.423904418945312, 20.409183502197266, 20.08310317993164, 20.184736251831055, 20.246623992919922], "step_mean_ms": 20.323295974731444, "step_p50_ms": 20.292896270751953, "step_p95_ms": 20.621006774902344, "sample_ms": 203.23295974731445, "sample_ms_from_mean": 203.23295974731445, "output_transfer_ms": 0.061510130763053894, "total_ms": 313.35425935685635, "control_frequency_hz": 3.1912762317399133, "prefill_share": 0.3010027070966505, "sample_share": 0.6485725139477592, "other_share": 0.0152127044855351, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.97119227051735, "prefix_embed_ms": 39.21299362182617, "prefill_forward_ms": 55.12089538574219, "prefill_ms": 94.33388900756836, "step_ms": [20.585439682006836, 20.27030372619629, 20.217920303344727, 20.22412872314453, 20.5328311920166, 20.697696685791016, 20.128320693969727, 20.59766387939453, 20.796672821044922, 20.461856842041016], "step_mean_ms": 20.45128345489502, "step_p50_ms": 20.49734401702881, "step_p95_ms": 20.752133560180663, "sample_ms": 204.5128345489502, "sample_ms_from_mean": 204.5128345489502, "output_transfer_ms": 0.06661936640739441, "total_ms": 314.69544395804405, "control_frequency_hz": 3.177675492923, "prefill_share": 0.29976248725146837, "sample_share": 0.6498754223344153, "other_share": 0.015287506879960283, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.12729124724865, "prefix_embed_ms": 39.60627365112305, "prefill_forward_ms": 55.184383392333984, "prefill_ms": 94.79065704345703, "step_ms": [21.053024291992188, 20.789344787597656, 20.187007904052734, 20.117919921875, 19.867807388305664, 22.40483283996582, 20.201919555664062, 19.802207946777344, 19.948959350585938, 19.769855499267578], "step_mean_ms": 20.414287948608397, "step_p50_ms": 20.152463912963867, "step_p95_ms": 21.796518993377685, "sample_ms": 204.14287948608398, "sample_ms_from_mean": 204.14287948608398, "output_transfer_ms": 0.07299892604351044, "total_ms": 315.1225969195366, "control_frequency_hz": 3.1733681106193092, "prefill_share": 0.30080564824635814, "sample_share": 0.6478205037711396, "other_share": 0.015831204316894, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.696450248360634, "prefix_embed_ms": 39.6506233215332, "prefill_forward_ms": 55.10550308227539, "prefill_ms": 94.7561264038086, "step_ms": [20.751487731933594, 20.49920082092285, 20.314176559448242, 20.943775177001953, 21.042720794677734, 20.60982322692871, 20.148639678955078, 20.086111068725586, 19.771936416625977, 20.137311935424805], "step_mean_ms": 20.430518341064452, "step_p50_ms": 20.406688690185547, "step_p95_ms": 20.998195266723634, "sample_ms": 204.30518341064453, "sample_ms_from_mean": 204.30518341064453, "output_transfer_ms": 0.06706453859806061, "total_ms": 314.45119343698025, "control_frequency_hz": 3.180143757986442, "prefill_share": 0.3013381039140462, "sample_share": 0.6497198537476364, "other_share": 0.01471251797457594, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.086422950029373, "prefix_embed_ms": 39.272705078125, "prefill_forward_ms": 55.10041427612305, "prefill_ms": 94.37311935424805, "step_ms": [20.550016403198242, 19.735647201538086, 19.938880920410156, 19.924415588378906, 19.798912048339844, 20.057247161865234, 19.745216369628906, 19.942495346069336, 20.0284481048584, 19.879039764404297], "step_mean_ms": 19.96003189086914, "step_p50_ms": 19.93164825439453, "step_p95_ms": 20.32827024459839, "sample_ms": 199.6003189086914, "sample_ms_from_mean": 199.6003189086914, "output_transfer_ms": 0.06526894867420197, "total_ms": 309.68545004725456, "control_frequency_hz": 3.22908292865361, "prefill_share": 0.304738628630592, "sample_share": 0.6445259823418718, "other_share": 0.014725651091827788, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.797230526804924, "prefix_embed_ms": 38.55116653442383, "prefill_forward_ms": 55.24275207519531, "prefill_ms": 93.79391860961914, "step_ms": [20.26527976989746, 19.865856170654297, 19.684608459472656, 20.041439056396484, 20.00383949279785, 19.94063949584961, 20.309375762939453, 19.834880828857422, 20.13542366027832, 20.18992042541504], "step_mean_ms": 20.02712631225586, "step_p50_ms": 20.022639274597168, "step_p95_ms": 20.289532566070555, "sample_ms": 200.2712631225586, "sample_ms_from_mean": 200.2712631225586, "output_transfer_ms": 0.06353668868541718, "total_ms": 309.4859626144171, "control_frequency_hz": 3.2311643201920655, "prefill_share": 0.30306356326239997, "sample_share": 0.6471093597614084, "other_share": 0.014734153459587562, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.80852746963501, "prefix_embed_ms": 39.07654571533203, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 94.12678527832031, "step_ms": [20.4553279876709, 19.89583969116211, 20.01958465576172, 20.28803253173828, 20.449472427368164, 20.537439346313477, 20.098783493041992, 20.88319969177246, 20.411104202270508, 20.432064056396484], "step_mean_ms": 20.34708480834961, "step_p50_ms": 20.421584129333496, "step_p95_ms": 20.72760753631592, "sample_ms": 203.4708480834961, "sample_ms_from_mean": 203.4708480834961, "output_transfer_ms": 0.06413646042346954, "total_ms": 312.9931092262268, "control_frequency_hz": 3.1949585167295638, "prefill_share": 0.3007311742773444, "sample_share": 0.6500809189905531, "other_share": 0.014450196509223783, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.663876309990883, "prefix_embed_ms": 38.857566833496094, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 93.95183944702148, "step_ms": [20.821760177612305, 20.280288696289062, 20.3603515625, 20.12995147705078, 20.011808395385742, 20.072416305541992, 19.9355525970459, 19.904415130615234, 19.957984924316406, 19.82454490661621], "step_mean_ms": 20.129907417297364, "step_p50_ms": 20.042112350463867, "step_p95_ms": 20.614126300811765, "sample_ms": 201.29907417297363, "sample_ms_from_mean": 201.29907417297363, "output_transfer_ms": 0.0661555677652359, "total_ms": 310.5684518814087, "control_frequency_hz": 3.2199020664914553, "prefill_share": 0.3025157219861379, "sample_share": 0.6481633049123746, "other_share": 0.014771321284781385, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.906495153903961, "prefix_embed_ms": 38.28201675415039, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 93.33430480957031, "step_ms": [20.35353660583496, 20.113855361938477, 19.77187156677246, 20.02672004699707, 20.000768661499023, 20.204063415527344, 20.058208465576172, 19.753856658935547, 20.30963134765625, 20.135360717773438], "step_mean_ms": 20.072787284851074, "step_p50_ms": 20.086031913757324, "step_p95_ms": 20.33377923965454, "sample_ms": 200.72787284851074, "sample_ms_from_mean": 200.72787284851074, "output_transfer_ms": 0.06373226642608643, "total_ms": 309.58355218172073, "control_frequency_hz": 3.230145765021184, "prefill_share": 0.3014834094118299, "sample_share": 0.6483802884033277, "other_share": 0.014700868541744036, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.896388441324234, "prefix_embed_ms": 40.47702407836914, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 95.61123275756836, "step_ms": [20.89244842529297, 19.89414405822754, 19.98124885559082, 19.710176467895508, 20.116512298583984, 20.16716766357422, 19.78441619873047, 20.200223922729492, 19.652992248535156, 19.850400924682617], "step_mean_ms": 20.024973106384277, "step_p50_ms": 19.93769645690918, "step_p95_ms": 20.580947399139404, "sample_ms": 200.24973106384277, "sample_ms_from_mean": 200.24973106384277, "output_transfer_ms": 0.06555207073688507, "total_ms": 311.3788068294525, "control_frequency_hz": 3.21152235819221, "prefill_share": 0.3070576116952502, "sample_share": 0.6431064885335083, "other_share": 0.014631382727584309, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.771779343485832, "prefix_embed_ms": 40.06150436401367, "prefill_forward_ms": 55.14854431152344, "prefill_ms": 95.21004867553711, "step_ms": [22.66975975036621, 20.260799407958984, 19.84377670288086, 19.824480056762695, 19.95369529724121, 20.064544677734375, 20.138975143432617, 19.80291175842285, 19.99500846862793, 19.928415298461914], "step_mean_ms": 20.248236656188965, "step_p50_ms": 19.97435188293457, "step_p95_ms": 21.585727596282958, "sample_ms": 202.48236656188965, "sample_ms_from_mean": 202.48236656188965, "output_transfer_ms": 0.06574206054210663, "total_ms": 313.14295902848244, "control_frequency_hz": 3.193429617905103, "prefill_share": 0.3040465893626467, "sample_share": 0.6466131864822563, "other_share": 0.014731362318793684, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.956434532999992, "prefix_embed_ms": 38.813472747802734, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 93.87292861938477, "step_ms": [20.75449562072754, 20.08073616027832, 20.191295623779297, 19.95404815673828, 19.911039352416992, 19.91651153564453, 19.706687927246094, 19.716928482055664, 19.710752487182617, 19.92425537109375], "step_mean_ms": 19.98667507171631, "step_p50_ms": 19.92038345336914, "step_p95_ms": 20.50105562210083, "sample_ms": 199.8667507171631, "sample_ms_from_mean": 199.8667507171631, "output_transfer_ms": 0.0586044043302536, "total_ms": 309.1656882315874, "control_frequency_hz": 3.2345115841280805, "prefill_share": 0.3036330750554284, "sample_share": 0.6464713204767033, "other_share": 0.014267333425451719, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.478673502802849, "prefix_embed_ms": 38.594337463378906, "prefill_forward_ms": 55.05231857299805, "prefill_ms": 93.64665603637695, "step_ms": [20.404096603393555, 19.99830436706543, 19.898591995239258, 19.75859260559082, 19.81283187866211, 19.83830451965332, 19.832576751708984, 19.78054428100586, 19.840160369873047, 19.74185562133789], "step_mean_ms": 19.890585899353027, "step_p50_ms": 19.835440635681152, "step_p95_ms": 20.221490097045898, "sample_ms": 198.90585899353027, "sample_ms_from_mean": 198.90585899353027, "output_transfer_ms": 0.06332062184810638, "total_ms": 307.5013719499111, "control_frequency_hz": 3.25201801103798, "prefill_share": 0.3045406121037764, "sample_share": 0.6468454359479412, "other_share": 0.014331197182660927, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 6631, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.711539536714554, "prefix_embed_ms": 38.03180694580078, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.08102416992188, "step_ms": [20.269792556762695, 19.761951446533203, 19.84294319152832, 19.8470401763916, 20.001440048217773, 19.958528518676758, 19.864511489868164, 20.264543533325195, 19.829120635986328, 19.833152770996094], "step_mean_ms": 19.947302436828615, "step_p50_ms": 19.855775833129883, "step_p95_ms": 20.26743049621582, "sample_ms": 199.47302436828613, "sample_ms_from_mean": 199.47302436828613, "output_transfer_ms": 0.06249919533729553, "total_ms": 308.33564326167107, "control_frequency_hz": 3.2432189461513, "prefill_share": 0.3018821411150577, "sample_share": 0.6469346918773256, "other_share": 0.01624060046525829, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.433643892407417, "prefix_embed_ms": 41.68396759033203, "prefill_forward_ms": 55.0830078125, "prefill_ms": 96.76697540283203, "step_ms": [23.11507225036621, 19.90937614440918, 21.10598373413086, 19.94879913330078, 19.884511947631836, 22.85817527770996, 19.82022476196289, 19.938016891479492, 19.76799964904785, 22.44643211364746], "step_mean_ms": 20.879459190368653, "step_p50_ms": 19.943408012390137, "step_p95_ms": 22.9994686126709, "sample_ms": 208.79459190368652, "sample_ms_from_mean": 208.79459190368652, "output_transfer_ms": 0.06376393139362335, "total_ms": 319.52644139528275, "control_frequency_hz": 3.129631449695616, "prefill_share": 0.30284496951262524, "sample_share": 0.653450121348139, "other_share": 0.013981522923282882, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.316820651292801, "prefix_embed_ms": 43.50630569458008, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 98.57600021362305, "step_ms": [23.296512603759766, 20.267072677612305, 20.00147247314453, 19.89094352722168, 21.13270378112793, 21.368703842163086, 22.017215728759766, 20.064992904663086, 19.740703582763672, 22.55945587158203], "step_mean_ms": 21.033977699279784, "step_p50_ms": 20.699888229370117, "step_p95_ms": 22.964837074279785, "sample_ms": 210.33977699279785, "sample_ms_from_mean": 210.33977699279785, "output_transfer_ms": 0.05753710865974426, "total_ms": 322.8111807256937, "control_frequency_hz": 3.0977861353871203, "prefill_share": 0.3053673667436793, "sample_share": 0.651587644888708, "other_share": 0.014005232870673035, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.224193170666695, "prefix_embed_ms": 38.24345779418945, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 93.37868881225586, "step_ms": [22.472768783569336, 19.783519744873047, 22.546079635620117, 19.80316734313965, 21.9967041015625, 20.3002872467041, 19.989599227905273, 19.95510482788086, 19.812992095947266, 22.641183853149414], "step_mean_ms": 20.930140686035156, "step_p50_ms": 20.144943237304688, "step_p95_ms": 22.59838695526123, "sample_ms": 209.30140686035156, "sample_ms_from_mean": 209.30140686035156, "output_transfer_ms": 0.06435252726078033, "total_ms": 316.66394881904125, "control_frequency_hz": 3.1579218402643416, "prefill_share": 0.2948826008154703, "sample_share": 0.6609574839223571, "other_share": 0.01482741393839406, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.38940979540348, "prefix_embed_ms": 38.20988845825195, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 93.26422500610352, "step_ms": [20.458431243896484, 20.043743133544922, 20.537248611450195, 22.393823623657227, 20.18137550354004, 20.191871643066406, 20.28339195251465, 23.225696563720703, 22.505695343017578, 20.33014488220215], "step_mean_ms": 21.015142250061036, "step_p50_ms": 20.394288063049316, "step_p95_ms": 22.901696014404298, "sample_ms": 210.15142250061035, "sample_ms_from_mean": 210.15142250061035, "output_transfer_ms": 0.05917996168136597, "total_ms": 317.62911565601826, "control_frequency_hz": 3.1483259899982428, "prefill_share": 0.2936261835237597, "sample_share": 0.661625185293773, "other_share": 0.015001390481405828, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.15319100022316, "prefix_embed_ms": 41.647552490234375, "prefill_forward_ms": 55.163902282714844, "prefill_ms": 96.81145477294922, "step_ms": [20.476736068725586, 19.97007942199707, 21.236576080322266, 21.141504287719727, 22.626239776611328, 20.188831329345703, 20.50604820251465, 22.98054313659668, 20.793983459472656, 20.164447784423828], "step_mean_ms": 21.00849895477295, "step_p50_ms": 20.650015830993652, "step_p95_ms": 22.82110662460327, "sample_ms": 210.0849895477295, "sample_ms_from_mean": 210.0849895477295, "output_transfer_ms": 0.06347149610519409, "total_ms": 321.5619344264269, "control_frequency_hz": 3.109820824357552, "prefill_share": 0.30106627808926684, "sample_share": 0.6533266753804678, "other_share": 0.016944877568108144, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.390430524945259, "prefix_embed_ms": 41.62758255004883, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 96.68498992919922, "step_ms": [23.91084861755371, 19.86016082763672, 19.904863357543945, 19.773408889770508, 21.97443199157715, 20.403135299682617, 19.985759735107422, 22.83839988708496, 20.144224166870117, 20.05516815185547], "step_mean_ms": 20.885040092468262, "step_p50_ms": 20.099696159362793, "step_p95_ms": 23.428246688842773, "sample_ms": 208.85040092468262, "sample_ms_from_mean": 208.85040092468262, "output_transfer_ms": 0.07878616452217102, "total_ms": 319.4970041513443, "control_frequency_hz": 3.1299198020846055, "prefill_share": 0.3026162645437513, "sample_share": 0.6536850055274732, "other_share": 0.014060841102181369, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.651834145188332, "prefix_embed_ms": 44.49216079711914, "prefill_forward_ms": 55.09120178222656, "prefill_ms": 99.5833625793457, "step_ms": [22.891263961791992, 20.010623931884766, 20.090272903442383, 19.956640243530273, 22.650400161743164, 20.1944637298584, 22.34000015258789, 20.107168197631836, 23.423519134521484, 20.235008239746094], "step_mean_ms": 21.189936065673827, "step_p50_ms": 20.214735984802246, "step_p95_ms": 23.184004306793213, "sample_ms": 211.89936065673828, "sample_ms_from_mean": 211.89936065673828, "output_transfer_ms": 0.06186775863170624, "total_ms": 325.8497230708599, "control_frequency_hz": 3.06889933978105, "prefill_share": 0.305611315672931, "sample_share": 0.6502978080194908, "other_share": 0.014280502948115047, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.776698425412178, "prefix_embed_ms": 39.17705535888672, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 94.23446273803711, "step_ms": [20.54560089111328, 19.915647506713867, 20.010080337524414, 19.991071701049805, 19.905824661254883, 20.15068817138672, 19.898239135742188, 20.076831817626953, 22.98371124267578, 19.75775909423828], "step_mean_ms": 20.323545455932617, "step_p50_ms": 20.00057601928711, "step_p95_ms": 21.886561584472652, "sample_ms": 203.23545455932617, "sample_ms_from_mean": 203.23545455932617, "output_transfer_ms": 0.060191377997398376, "total_ms": 311.8850775063038, "control_frequency_hz": 3.206309221318189, "prefill_share": 0.3021448268429337, "sample_share": 0.6516357120523614, "other_share": 0.014679350618941985, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.249866008758545, "prefix_embed_ms": 38.56140899658203, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.61062622070312, "step_ms": [20.192575454711914, 19.92095947265625, 19.719968795776367, 19.683456420898438, 19.903839111328125, 22.435199737548828, 19.891103744506836, 19.746688842773438, 19.819360733032227, 19.739168167114258], "step_mean_ms": 20.10523204803467, "step_p50_ms": 19.85523223876953, "step_p95_ms": 21.426018810272215, "sample_ms": 201.05232048034668, "sample_ms_from_mean": 201.05232048034668, "output_transfer_ms": 0.06899237632751465, "total_ms": 308.45842882990837, "control_frequency_hz": 3.241927944045338, "prefill_share": 0.30347890500448066, "sample_share": 0.6517971359803947, "other_share": 0.014512891609912947, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.810404852032661, "prefix_embed_ms": 38.78569412231445, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 93.86255645751953, "step_ms": [21.043136596679688, 22.350879669189453, 20.290912628173828, 19.869216918945312, 19.997440338134766, 20.002784729003906, 19.975200653076172, 19.789344787597656, 19.707807540893555, 20.00441551208496], "step_mean_ms": 20.30311393737793, "step_p50_ms": 20.000112533569336, "step_p95_ms": 21.762395286560057, "sample_ms": 203.0311393737793, "sample_ms_from_mean": 203.0311393737793, "output_transfer_ms": 0.05959905683994293, "total_ms": 311.2102076411247, "control_frequency_hz": 3.213262211351243, "prefill_share": 0.30160500572577015, "sample_share": 0.6523922878773525, "other_share": 0.014287795810607953, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.780785396695137, "prefix_embed_ms": 38.85395050048828, "prefill_forward_ms": 55.0195198059082, "prefill_ms": 93.87347030639648, "step_ms": [20.335071563720703, 19.736896514892578, 19.657791137695312, 19.74118423461914, 20.04025650024414, 19.98486328125, 20.001312255859375, 22.14579200744629, 19.888032913208008, 19.84992027282715], "step_mean_ms": 20.13811206817627, "step_p50_ms": 19.936448097229004, "step_p95_ms": 21.330967807769774, "sample_ms": 201.3811206817627, "sample_ms_from_mean": 201.3811206817627, "output_transfer_ms": 0.06224401295185089, "total_ms": 311.6418235003948, "control_frequency_hz": 3.2088119263579302, "prefill_share": 0.3012223110877721, "sample_share": 0.6461941417869658, "other_share": 0.014581493111379181, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.30551253259182, "prefix_embed_ms": 38.65990447998047, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 93.73472213745117, "step_ms": [20.3702392578125, 19.850847244262695, 22.662111282348633, 19.855327606201172, 20.137311935424805, 20.268672943115234, 19.9704647064209, 20.059904098510742, 19.728256225585938, 19.785791397094727], "step_mean_ms": 20.268892669677733, "step_p50_ms": 20.01518440246582, "step_p95_ms": 21.63076887130737, "sample_ms": 202.68892669677734, "sample_ms_from_mean": 202.68892669677734, "output_transfer_ms": 0.0616908073425293, "total_ms": 310.2029412984848, "control_frequency_hz": 3.223696061082076, "prefill_share": 0.30217225454112423, "sample_share": 0.6534074946173548, "other_share": 0.014223234331219697, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.337618947029114, "prefix_embed_ms": 38.04079818725586, "prefill_forward_ms": 55.1280632019043, "prefill_ms": 93.16886138916016, "step_ms": [20.36070442199707, 20.07548713684082, 19.953855514526367, 19.808095932006836, 19.800447463989258, 20.117952346801758, 20.094175338745117, 22.30691146850586, 20.015840530395508, 20.00092887878418], "step_mean_ms": 20.253439903259277, "step_p50_ms": 20.045663833618164, "step_p95_ms": 21.4311182975769, "sample_ms": 202.53439903259277, "sample_ms_from_mean": 202.53439903259277, "output_transfer_ms": 0.06055273115634918, "total_ms": 309.55904349684715, "control_frequency_hz": 3.2304015050046018, "prefill_share": 0.3009728300511081, "sample_share": 0.6542674274500903, "other_share": 0.014399874565299724, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.348368272185326, "prefix_embed_ms": 38.29404830932617, "prefill_forward_ms": 55.00521469116211, "prefill_ms": 93.29926300048828, "step_ms": [20.345375061035156, 19.90825653076172, 23.99305534362793, 19.912416458129883, 19.941152572631836, 19.748735427856445, 22.50102424621582, 19.806079864501953, 21.099903106689453, 21.23958396911621], "step_mean_ms": 20.84955825805664, "step_p50_ms": 20.143263816833496, "step_p95_ms": 23.32164134979248, "sample_ms": 208.4955825805664, "sample_ms_from_mean": 208.4955825805664, "output_transfer_ms": 0.08010305464267731, "total_ms": 315.7108146697283, "control_frequency_hz": 3.1674556383065973, "prefill_share": 0.2955212766407467, "sample_share": 0.6604005086068339, "other_share": 0.014213950087646046, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.45398025214672, "prefix_embed_ms": 38.66348648071289, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.7454719543457, "step_ms": [20.422592163085938, 20.026687622070312, 27.05254364013672, 28.219743728637695, 20.64454460144043, 19.926591873168945, 19.801376342773438, 22.250463485717773, 20.155935287475586, 19.85273551940918], "step_mean_ms": 21.8353214263916, "step_p50_ms": 20.28926372528076, "step_p95_ms": 27.694503688812254, "sample_ms": 218.35321426391602, "sample_ms_from_mean": 218.35321426391602, "output_transfer_ms": 0.06541609764099121, "total_ms": 326.2357357889414, "control_frequency_hz": 3.0652681184103976, "prefill_share": 0.28735500642699197, "sample_share": 0.6693111462356163, "other_share": 0.014154345199875188, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.43666510283947, "prefix_embed_ms": 38.451263427734375, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 93.52812576293945, "step_ms": [21.655424118041992, 20.045055389404297, 19.868192672729492, 20.019840240478516, 20.087839126586914, 19.84364891052246, 19.781055450439453, 19.826784133911133, 19.838207244873047, 19.841215133666992], "step_mean_ms": 20.08072624206543, "step_p50_ms": 19.855920791625977, "step_p95_ms": 20.950010871887205, "sample_ms": 200.8072624206543, "sample_ms_from_mean": 200.8072624206543, "output_transfer_ms": 0.06699562072753906, "total_ms": 308.2733638584614, "control_frequency_hz": 3.243874162475917, "prefill_share": 0.30339347062719746, "sample_share": 0.6513934902038816, "other_share": 0.014384359698804739, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.697763413190842, "prefix_embed_ms": 38.7360954284668, "prefill_forward_ms": 55.0830078125, "prefill_ms": 93.8191032409668, "step_ms": [20.112607955932617, 19.70275115966797, 19.792224884033203, 19.80873680114746, 19.733823776245117, 19.72256088256836, 19.646751403808594, 19.83113670349121, 19.727327346801758, 19.819904327392578], "step_mean_ms": 19.789782524108887, "step_p50_ms": 19.76302433013916, "step_p95_ms": 19.985945892333984, "sample_ms": 197.89782524108887, "sample_ms_from_mean": 197.89782524108887, "output_transfer_ms": 0.06115622818470001, "total_ms": 306.8871982395649, "control_frequency_hz": 3.258526278503711, "prefill_share": 0.30571201333634296, "sample_share": 0.644855264006823, "other_share": 0.014374500277102025, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.174570441246033, "prefix_embed_ms": 38.4736328125, "prefill_forward_ms": 55.170047760009766, "prefill_ms": 93.64368057250977, "step_ms": [20.24185562133789, 19.869407653808594, 19.784448623657227, 20.022655487060547, 19.952415466308594, 19.915136337280273, 19.696575164794922, 19.691743850708008, 19.66422462463379, 19.535520553588867], "step_mean_ms": 19.837398338317872, "step_p50_ms": 19.82692813873291, "step_p95_ms": 20.143215560913085, "sample_ms": 198.3739833831787, "sample_ms_from_mean": 198.3739833831787, "output_transfer_ms": 0.056063756346702576, "total_ms": 305.4738435894251, "control_frequency_hz": 3.273602702770386, "prefill_share": 0.30655220581953463, "sample_share": 0.6493976081625014, "other_share": 0.013832756960439658, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.134938940405846, "prefix_embed_ms": 38.20412826538086, "prefill_forward_ms": 55.12188720703125, "prefill_ms": 93.32601547241211, "step_ms": [20.44607925415039, 19.899744033813477, 19.76246452331543, 19.83839988708496, 20.05023956298828, 19.776992797851562, 19.799007415771484, 19.783327102661133, 19.790592193603516, 19.959392547607422], "step_mean_ms": 19.910623931884764, "step_p50_ms": 19.818703651428223, "step_p95_ms": 20.26795139312744, "sample_ms": 199.10623931884766, "sample_ms_from_mean": 199.10623931884766, "output_transfer_ms": 0.06338395178318024, "total_ms": 305.986687541008, "control_frequency_hz": 3.2681160348388723, "prefill_share": 0.3050002476330107, "sample_share": 0.650702293354392, "other_share": 0.01423627247500891, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.609635919332504, "prefix_embed_ms": 38.922271728515625, "prefill_forward_ms": 55.046142578125, "prefill_ms": 93.96841430664062, "step_ms": [20.27667236328125, 19.826143264770508, 20.416128158569336, 20.498720169067383, 20.259136199951172, 20.28998374938965, 20.12508773803711, 20.14473533630371, 20.22118377685547, 19.776927947998047], "step_mean_ms": 20.183471870422363, "step_p50_ms": 20.24015998840332, "step_p95_ms": 20.46155376434326, "sample_ms": 201.83471870422363, "sample_ms_from_mean": 201.83471870422363, "output_transfer_ms": 0.058922916650772095, "total_ms": 309.84101071953773, "control_frequency_hz": 3.2274617155350724, "prefill_share": 0.30327945964422076, "sample_share": 0.6514138274836724, "other_share": 0.014101809384572483, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.103834629058838, "prefix_embed_ms": 38.18812942504883, "prefill_forward_ms": 55.08403015136719, "prefill_ms": 93.27215957641602, "step_ms": [20.14406394958496, 19.749887466430664, 19.89910316467285, 19.9050235748291, 19.813888549804688, 19.763647079467773, 19.684064865112305, 19.667295455932617, 19.709728240966797, 19.759103775024414], "step_mean_ms": 19.809580612182618, "step_p50_ms": 19.761375427246094, "step_p95_ms": 20.036495780944826, "sample_ms": 198.09580612182617, "sample_ms_from_mean": 198.09580612182617, "output_transfer_ms": 0.05747191607952118, "total_ms": 304.77349832654, "control_frequency_hz": 3.2811251814571536, "prefill_share": 0.3060376315150686, "sample_share": 0.649977137807378, "other_share": 0.013925837077251724, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.18954610824585, "prefix_embed_ms": 37.99564743041992, "prefill_forward_ms": 55.034881591796875, "prefill_ms": 93.0305290222168, "step_ms": [20.074111938476562, 19.59868812561035, 19.604000091552734, 19.772415161132812, 19.689952850341797, 19.677824020385742, 19.742111206054688, 19.599584579467773, 19.84556770324707, 19.814783096313477], "step_mean_ms": 19.741903877258302, "step_p50_ms": 19.716032028198242, "step_p95_ms": 19.97126703262329, "sample_ms": 197.419038772583, "sample_ms_from_mean": 197.419038772583, "output_transfer_ms": 0.06349757313728333, "total_ms": 303.88796888291836, "control_frequency_hz": 3.2906863791810035, "prefill_share": 0.30613429470141185, "sample_share": 0.6496441418799452, "other_share": 0.013772698610348574, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.365029633045197, "prefix_embed_ms": 38.44355010986328, "prefill_forward_ms": 55.02259063720703, "prefill_ms": 93.46614074707031, "step_ms": [20.242399215698242, 19.774688720703125, 21.5468807220459, 20.36835289001465, 20.182207107543945, 20.298559188842773, 20.238719940185547, 19.83660888671875, 19.773279190063477, 20.436447143554688], "step_mean_ms": 20.26981430053711, "step_p50_ms": 20.240559577941895, "step_p95_ms": 21.047185611724853, "sample_ms": 202.6981430053711, "sample_ms_from_mean": 202.6981430053711, "output_transfer_ms": 0.06468594074249268, "total_ms": 310.04977226257324, "control_frequency_hz": 3.2252886131879674, "prefill_share": 0.3014552794701498, "sample_share": 0.6537600125495696, "other_share": 0.01437115371454189, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.709998965263367, "prefix_embed_ms": 38.45942306518555, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 93.51990127563477, "step_ms": [19.989887237548828, 19.678943634033203, 19.820831298828125, 20.03775978088379, 19.72012710571289, 19.947263717651367, 20.419391632080078, 19.902847290039062, 19.88844871520996, 19.811199188232422], "step_mean_ms": 19.921669960021973, "step_p50_ms": 19.89564800262451, "step_p95_ms": 20.247657299041748, "sample_ms": 199.21669960021973, "sample_ms_from_mean": 199.21669960021973, "output_transfer_ms": 0.060711055994033813, "total_ms": 307.36529640853405, "control_frequency_hz": 3.25345773151583, "prefill_share": 0.3042630458558111, "sample_share": 0.6481431115614015, "other_share": 0.015805250521728303, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.302863851189613, "prefix_embed_ms": 38.04876708984375, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 93.09183883666992, "step_ms": [20.119136810302734, 19.633567810058594, 19.720287322998047, 19.757631301879883, 19.795551300048828, 19.689599990844727, 19.540767669677734, 19.59894371032715, 19.82467269897461, 19.694080352783203], "step_mean_ms": 19.73742389678955, "step_p50_ms": 19.707183837890625, "step_p95_ms": 19.986627960205077, "sample_ms": 197.3742389678955, "sample_ms_from_mean": 197.3742389678955, "output_transfer_ms": 0.06064213812351227, "total_ms": 303.9627820253372, "control_frequency_hz": 3.289876455718989, "prefill_share": 0.30626064880834697, "sample_share": 0.6493368617459329, "other_share": 0.013597711548495222, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.148536249995232, "prefix_embed_ms": 37.91427230834961, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 93.04950332641602, "step_ms": [20.501216888427734, 19.7475528717041, 19.799104690551758, 19.95267105102539, 19.82249641418457, 19.783296585083008, 19.798559188842773, 19.61084747314453, 19.731647491455078, 19.817216873168945], "step_mean_ms": 19.856460952758788, "step_p50_ms": 19.798831939697266, "step_p95_ms": 20.254371261596678, "sample_ms": 198.5646095275879, "sample_ms_from_mean": 198.5646095275879, "output_transfer_ms": 0.06173178553581238, "total_ms": 305.05494214594364, "control_frequency_hz": 3.278098013968849, "prefill_share": 0.30502539205511214, "sample_share": 0.6509142521368859, "other_share": 0.01386819445260689, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.152065962553024, "prefix_embed_ms": 38.219520568847656, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 93.28102493286133, "step_ms": [20.065568923950195, 19.638080596923828, 19.672351837158203, 19.676895141601562, 19.679359436035156, 19.646944046020508, 19.66396713256836, 19.570816040039062, 19.733247756958008, 19.83135986328125], "step_mean_ms": 19.717859077453614, "step_p50_ms": 19.674623489379883, "step_p95_ms": 19.96017484664917, "sample_ms": 197.17859077453613, "sample_ms_from_mean": 197.17859077453613, "output_transfer_ms": 0.06279535591602325, "total_ms": 303.85567992925644, "control_frequency_hz": 3.2910360610432545, "prefill_share": 0.30699121686512154, "sample_share": 0.6489218527046892, "other_share": 0.013760489533595018, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.369781240820885, "prefix_embed_ms": 38.42790222167969, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 93.46892547607422, "step_ms": [20.18556785583496, 19.900352478027344, 19.628511428833008, 19.673887252807617, 19.762752532958984, 19.713024139404297, 19.504383087158203, 19.613536834716797, 19.60335922241211, 19.89651107788086], "step_mean_ms": 19.74818859100342, "step_p50_ms": 19.693455696105957, "step_p95_ms": 20.057220935821533, "sample_ms": 197.48188591003418, "sample_ms_from_mean": 197.48188591003418, "output_transfer_ms": 0.060634687542915344, "total_ms": 304.59329299628735, "control_frequency_hz": 3.2830663806250944, "prefill_share": 0.30686468686365165, "sample_share": 0.6483461404136738, "other_share": 0.013828491232952026, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.167244657874107, "prefix_embed_ms": 37.93257522583008, "prefill_forward_ms": 55.02975845336914, "prefill_ms": 92.96233367919922, "step_ms": [20.185951232910156, 19.635007858276367, 19.94371223449707, 19.76425552368164, 19.844192504882812, 20.03865623474121, 19.979263305664062, 19.848480224609375, 20.0435848236084, 19.93075180053711], "step_mean_ms": 19.92138557434082, "step_p50_ms": 19.93723201751709, "step_p95_ms": 20.121886348724367, "sample_ms": 199.2138557434082, "sample_ms_from_mean": 199.2138557434082, "output_transfer_ms": 0.06103888154029846, "total_ms": 306.2554318457842, "control_frequency_hz": 3.265248207919306, "prefill_share": 0.3035450934500018, "sample_share": 0.6504826854588588, "other_share": 0.015839584801895283, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.264810010790825, "prefix_embed_ms": 37.982208251953125, "prefill_forward_ms": 54.981632232666016, "prefill_ms": 92.96384048461914, "step_ms": [20.12326431274414, 19.804960250854492, 19.70038414001465, 19.70230484008789, 19.933216094970703, 19.686656951904297, 19.68022346496582, 19.96784019470215, 19.734207153320312, 19.781248092651367], "step_mean_ms": 19.811430549621583, "step_p50_ms": 19.75772762298584, "step_p95_ms": 20.053323459625243, "sample_ms": 198.11430549621582, "sample_ms_from_mean": 198.11430549621582, "output_transfer_ms": 0.05928054451942444, "total_ms": 304.5724928379059, "control_frequency_hz": 3.283290590960235, "prefill_share": 0.30522730276267823, "sample_share": 0.650466835170347, "other_share": 0.013692163277463447, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.545475244522095, "prefix_embed_ms": 39.25743865966797, "prefill_forward_ms": 55.13011169433594, "prefill_ms": 94.3875503540039, "step_ms": [20.592479705810547, 20.035968780517578, 19.978111267089844, 20.1823673248291, 20.068191528320312, 20.210111618041992, 20.203487396240234, 21.051551818847656, 20.253280639648438, 20.63382339477539], "step_mean_ms": 20.32093734741211, "step_p50_ms": 20.206799507141113, "step_p95_ms": 20.863574028015137, "sample_ms": 203.2093734741211, "sample_ms_from_mean": 203.2093734741211, "output_transfer_ms": 0.06758421659469604, "total_ms": 311.85957975685596, "control_frequency_hz": 3.20657137029319, "prefill_share": 0.3026604166772558, "sample_share": 0.6516053591573331, "other_share": 0.014909262916467957, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.567350149154663, "prefix_embed_ms": 39.935935974121094, "prefill_forward_ms": 55.14854431152344, "prefill_ms": 95.08448028564453, "step_ms": [20.450592041015625, 20.074176788330078, 20.030271530151367, 20.184799194335938, 20.14908790588379, 19.98512077331543, 20.271488189697266, 20.083744049072266, 20.161888122558594, 20.096416473388672], "step_mean_ms": 20.148758506774904, "step_p50_ms": 20.12275218963623, "step_p95_ms": 20.369995307922363, "sample_ms": 201.48758506774902, "sample_ms_from_mean": 201.48758506774902, "output_transfer_ms": 0.06324611604213715, "total_ms": 310.8025509864092, "control_frequency_hz": 3.217476809074608, "prefill_share": 0.30593211022197303, "sample_share": 0.6482816322719298, "other_share": 0.014800037365265953, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.555762633681297, "prefix_embed_ms": 39.34428787231445, "prefill_forward_ms": 55.09836959838867, "prefill_ms": 94.44265747070312, "step_ms": [20.57583999633789, 19.951839447021484, 20.279071807861328, 20.118112564086914, 20.242719650268555, 20.194080352783203, 22.001440048217773, 20.334016799926758, 20.63408088684082, 20.418079376220703], "step_mean_ms": 20.474928092956542, "step_p50_ms": 20.306544303894043, "step_p95_ms": 21.386128425598145, "sample_ms": 204.74928092956543, "sample_ms_from_mean": 204.74928092956543, "output_transfer_ms": 0.07517635822296143, "total_ms": 313.6264756321907, "control_frequency_hz": 3.188506321044025, "prefill_share": 0.30113101032153267, "sample_share": 0.6528443764731383, "other_share": 0.015316303352053, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.069213807582855, "prefix_embed_ms": 39.736671447753906, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 94.87190246582031, "step_ms": [21.574975967407227, 20.49875259399414, 20.742015838623047, 20.715904235839844, 20.67750358581543, 20.289119720458984, 19.96272087097168, 19.799488067626953, 19.6059513092041, 19.54844856262207], "step_mean_ms": 20.341488075256347, "step_p50_ms": 20.393936157226562, "step_p95_ms": 21.200143909454344, "sample_ms": 203.41488075256348, "sample_ms_from_mean": 203.41488075256348, "output_transfer_ms": 0.05915388464927673, "total_ms": 312.96609714627266, "control_frequency_hz": 3.195234273355253, "prefill_share": 0.3031379543372058, "sample_share": 0.6499581986910625, "other_share": 0.014541339388367481, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.13950800895691, "prefix_embed_ms": 38.32262420654297, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.40460968017578, "step_ms": [21.343551635742188, 20.509023666381836, 19.915903091430664, 20.314847946166992, 19.853248596191406, 20.022592544555664, 19.89583969116211, 20.087488174438477, 19.937503814697266, 19.991680145263672], "step_mean_ms": 20.187167930603028, "step_p50_ms": 20.007136344909668, "step_p95_ms": 20.96801404953003, "sample_ms": 201.87167930603027, "sample_ms_from_mean": 201.87167930603027, "output_transfer_ms": 0.06023608148097992, "total_ms": 308.82990919053555, "control_frequency_hz": 3.2380283458330474, "prefill_share": 0.30244677377588103, "sample_share": 0.6536662198138447, "other_share": 0.014097974271026438, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.349169209599495, "prefix_embed_ms": 38.64780807495117, "prefill_forward_ms": 55.16185760498047, "prefill_ms": 93.80966567993164, "step_ms": [20.839391708374023, 20.19980812072754, 20.036352157592773, 19.985088348388672, 19.790176391601562, 19.802879333496094, 19.734399795532227, 20.034624099731445, 20.15555191040039, 19.88115119934082], "step_mean_ms": 20.045942306518555, "step_p50_ms": 20.00985622406006, "step_p95_ms": 20.551579093933103, "sample_ms": 200.45942306518555, "sample_ms_from_mean": 200.45942306518555, "output_transfer_ms": 0.05943700671195984, "total_ms": 308.08073841035366, "control_frequency_hz": 3.245902373383798, "prefill_share": 0.30449701647683075, "sample_share": 0.6506717170944326, "other_share": 0.0142918491809777, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.27434116601944, "prefix_embed_ms": 38.17820739746094, "prefill_forward_ms": 55.087135314941406, "prefill_ms": 93.26534271240234, "step_ms": [20.213472366333008, 19.777183532714844, 19.972639083862305, 19.683008193969727, 19.55014419555664, 19.65894317626953, 19.925888061523438, 19.74505615234375, 19.900768280029297, 19.874591827392578], "step_mean_ms": 19.830169486999512, "step_p50_ms": 19.82588768005371, "step_p95_ms": 20.105097389221193, "sample_ms": 198.30169486999512, "sample_ms_from_mean": 198.30169486999512, "output_transfer_ms": 0.06318464875221252, "total_ms": 305.2225913852453, "control_frequency_hz": 3.276297457083777, "prefill_share": 0.30556500516269075, "sample_share": 0.649695338637968, "other_share": 0.014147144116950665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.41123254597187, "prefix_embed_ms": 38.4060173034668, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.44806671142578, "step_ms": [20.237728118896484, 19.73721694946289, 19.723039627075195, 20.041759490966797, 19.807903289794922, 19.968767166137695, 19.66873550415039, 19.85513687133789, 19.76595115661621, 19.69331169128418], "step_mean_ms": 19.849954986572264, "step_p50_ms": 19.786927223205566, "step_p95_ms": 20.149542236328124, "sample_ms": 198.49954986572266, "sample_ms_from_mean": 198.49954986572266, "output_transfer_ms": 0.08671171963214874, "total_ms": 305.68648502230644, "control_frequency_hz": 3.2713255213982664, "prefill_share": 0.30569904555841493, "sample_share": 0.6493566434618063, "other_share": 0.013873443502889958, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.225364774465561, "prefix_embed_ms": 38.0733757019043, "prefill_forward_ms": 55.17824172973633, "prefill_ms": 93.25161743164062, "step_ms": [20.188671112060547, 20.048479080200195, 19.92310333251953, 20.045312881469727, 20.25267219543457, 19.818527221679688, 19.891807556152344, 19.617952346801758, 19.712831497192383, 19.822336196899414], "step_mean_ms": 19.932169342041014, "step_p50_ms": 19.907455444335938, "step_p95_ms": 20.22387170791626, "sample_ms": 199.32169342041016, "sample_ms_from_mean": 199.32169342041016, "output_transfer_ms": 0.059703364968299866, "total_ms": 306.097786873579, "control_frequency_hz": 3.2669298599437715, "prefill_share": 0.3046464934754799, "sample_share": 0.6511699919696959, "other_share": 0.013849848198495125, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.251091629266739, "prefix_embed_ms": 38.23299026489258, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 93.28322982788086, "step_ms": [20.091007232666016, 19.872800827026367, 20.181856155395508, 19.93414306640625, 19.73302459716797, 19.70185661315918, 19.750879287719727, 19.918432235717773, 19.980512619018555, 19.6529598236084], "step_mean_ms": 19.881747245788574, "step_p50_ms": 19.89561653137207, "step_p95_ms": 20.140974140167238, "sample_ms": 198.81747245788574, "sample_ms_from_mean": 198.81747245788574, "output_transfer_ms": 0.06514228880405426, "total_ms": 305.6573383510113, "control_frequency_hz": 3.271637466304239, "prefill_share": 0.30518890968276413, "sample_share": 0.6504586918491301, "other_share": 0.013873058536891011, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.289463981986046, "prefix_embed_ms": 39.076480865478516, "prefill_forward_ms": 55.05744171142578, "prefill_ms": 94.1339225769043, "step_ms": [20.398847579956055, 19.82966423034668, 19.811904907226562, 19.86089515686035, 19.81705665588379, 21.4085750579834, 19.876447677612305, 19.85750389099121, 19.908416748046875, 19.918624877929688], "step_mean_ms": 20.06879367828369, "step_p50_ms": 19.868671417236328, "step_p95_ms": 20.95419769287109, "sample_ms": 200.6879367828369, "sample_ms_from_mean": 200.6879367828369, "output_transfer_ms": 0.058302655816078186, "total_ms": 308.4253706037998, "control_frequency_hz": 3.242275426442107, "prefill_share": 0.3052081039657007, "sample_share": 0.6506855658143592, "other_share": 0.013798296158078942, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.180707857012749, "prefix_embed_ms": 38.7685432434082, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 93.83516693115234, "step_ms": [20.339584350585938, 19.61065673828125, 19.805280685424805, 20.061504364013672, 19.79724884033203, 19.91107177734375, 19.800128936767578, 19.941375732421875, 19.988767623901367, 19.81932830810547], "step_mean_ms": 19.907494735717773, "step_p50_ms": 19.86520004272461, "step_p95_ms": 20.214448356628417, "sample_ms": 199.07494735717773, "sample_ms_from_mean": 199.07494735717773, "output_transfer_ms": 0.06047636270523071, "total_ms": 306.45314790308475, "control_frequency_hz": 3.263141549834065, "prefill_share": 0.3061974320486587, "sample_share": 0.649609732252236, "other_share": 0.014037543502072784, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.307518601417542, "prefix_embed_ms": 38.35798263549805, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 93.39388656616211, "step_ms": [20.239744186401367, 19.84886360168457, 19.811647415161133, 19.92144012451172, 19.677536010742188, 19.675743103027344, 19.757503509521484, 19.651456832885742, 19.590303421020508, 19.573087692260742], "step_mean_ms": 19.77473258972168, "step_p50_ms": 19.717519760131836, "step_p95_ms": 20.096507358551026, "sample_ms": 197.7473258972168, "sample_ms_from_mean": 197.7473258972168, "output_transfer_ms": 0.06976909935474396, "total_ms": 304.63279224932194, "control_frequency_hz": 3.2826406921470412, "prefill_share": 0.30657857243984865, "sample_share": 0.6491334187534663, "other_share": 0.013505742618159991, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.324772283434868, "prefix_embed_ms": 38.98329544067383, "prefill_forward_ms": 55.186431884765625, "prefill_ms": 94.16972732543945, "step_ms": [20.326175689697266, 19.890111923217773, 19.802879333496094, 19.9421443939209, 19.967872619628906, 19.823999404907227, 19.704320907592773, 19.65657615661621, 19.821088790893555, 19.76793670654297], "step_mean_ms": 19.870310592651368, "step_p50_ms": 19.82254409790039, "step_p95_ms": 20.164939308166502, "sample_ms": 198.70310592651367, "sample_ms_from_mean": 198.70310592651367, "output_transfer_ms": 0.05963817238807678, "total_ms": 306.60449527204037, "control_frequency_hz": 3.2615307845135537, "prefill_share": 0.307137464641168, "sample_share": 0.6480762969577819, "other_share": 0.014178694804872707, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.252304211258888, "prefix_embed_ms": 38.21200180053711, "prefill_forward_ms": 55.05535888671875, "prefill_ms": 93.26736068725586, "step_ms": [20.04300880432129, 19.69705581665039, 19.941471099853516, 19.772031784057617, 19.69900894165039, 19.628543853759766, 19.601024627685547, 19.68332862854004, 19.737247467041016, 19.76108741760254], "step_mean_ms": 19.75638084411621, "step_p50_ms": 19.718128204345703, "step_p95_ms": 19.99731683731079, "sample_ms": 197.5638084411621, "sample_ms_from_mean": 197.5638084411621, "output_transfer_ms": 0.06282702088356018, "total_ms": 304.34236116707325, "control_frequency_hz": 3.2857732856026414, "prefill_share": 0.3064554021648513, "sample_share": 0.6491498839778881, "other_share": 0.013787304502804139, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.407958015799522, "prefix_embed_ms": 38.290401458740234, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 93.34268951416016, "step_ms": [20.112384796142578, 19.700864791870117, 19.698463439941406, 19.772703170776367, 19.978015899658203, 19.687904357910156, 19.523744583129883, 19.673664093017578, 19.684064865112305, 19.702207565307617], "step_mean_ms": 19.75340175628662, "step_p50_ms": 19.69966411590576, "step_p95_ms": 20.05191879272461, "sample_ms": 197.5340175628662, "sample_ms_from_mean": 197.5340175628662, "output_transfer_ms": 0.06261467933654785, "total_ms": 304.54657785594463, "control_frequency_hz": 3.2835699781628014, "prefill_share": 0.306497252969668, "sample_share": 0.648616769735311, "other_share": 0.0137886891172638, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.184444323182106, "prefix_embed_ms": 38.04044723510742, "prefill_forward_ms": 55.03692626953125, "prefill_ms": 93.07737350463867, "step_ms": [20.183616638183594, 19.618335723876953, 19.949792861938477, 19.803552627563477, 19.94313621520996, 20.063264846801758, 19.72515106201172, 19.840831756591797, 19.73366355895996, 19.804672241210938], "step_mean_ms": 19.866601753234864, "step_p50_ms": 19.822751998901367, "step_p95_ms": 20.129458332061766, "sample_ms": 198.66601753234863, "sample_ms_from_mean": 198.66601753234863, "output_transfer_ms": 0.06282515823841095, "total_ms": 305.28803914785385, "control_frequency_hz": 3.275595083224635, "prefill_share": 0.30488378701125735, "sample_share": 0.6507494302327803, "other_share": 0.014076472309368036, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.380098432302475, "prefix_embed_ms": 38.936126708984375, "prefill_forward_ms": 55.177215576171875, "prefill_ms": 94.11334228515625, "step_ms": [20.38265609741211, 20.3853759765625, 20.202655792236328, 20.299488067626953, 19.756479263305664, 20.335744857788086, 20.09440040588379, 19.8855037689209, 20.215679168701172, 19.73075294494629], "step_mean_ms": 20.12887363433838, "step_p50_ms": 20.20916748046875, "step_p95_ms": 20.384152030944826, "sample_ms": 201.2887363433838, "sample_ms_from_mean": 201.2887363433838, "output_transfer_ms": 0.060463324189186096, "total_ms": 309.7985293716192, "control_frequency_hz": 3.227904283562459, "prefill_share": 0.3037888607026358, "sample_share": 0.649740774275683, "other_share": 0.015997135288665885, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.29144211113453, "prefix_embed_ms": 38.09366226196289, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 93.15106964111328, "step_ms": [20.20524787902832, 19.858335494995117, 22.209056854248047, 19.987520217895508, 19.865663528442383, 20.020544052124023, 19.933696746826172, 19.976224899291992, 20.056255340576172, 19.862943649291992], "step_mean_ms": 20.197548866271973, "step_p50_ms": 19.98187255859375, "step_p95_ms": 21.307342815399167, "sample_ms": 201.97548866271973, "sample_ms_from_mean": 201.97548866271973, "output_transfer_ms": 0.059720128774642944, "total_ms": 308.8140059262514, "control_frequency_hz": 3.23819509740375, "prefill_share": 0.30164133702976836, "sample_share": 0.6540360371833458, "other_share": 0.014041738066584939, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.297790005803108, "prefix_embed_ms": 38.024192810058594, "prefill_forward_ms": 55.22022247314453, "prefill_ms": 93.24441528320312, "step_ms": [20.311359405517578, 19.71766471862793, 19.768640518188477, 20.11737632751465, 19.75209617614746, 19.72969627380371, 19.64303970336914, 19.827232360839844, 20.013248443603516, 19.999296188354492], "step_mean_ms": 19.88796501159668, "step_p50_ms": 19.79793643951416, "step_p95_ms": 20.22406702041626, "sample_ms": 198.8796501159668, "sample_ms_from_mean": 198.8796501159668, "output_transfer_ms": 0.0628102570772171, "total_ms": 305.7063240557909, "control_frequency_hz": 3.271113226357403, "prefill_share": 0.30501304011684816, "sample_share": 0.6505578539476716, "other_share": 0.013809522608927803, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.539639577269554, "prefix_embed_ms": 38.46134567260742, "prefill_forward_ms": 55.2017936706543, "prefill_ms": 93.66313934326172, "step_ms": [20.469823837280273, 19.79167938232422, 19.72755241394043, 19.81385612487793, 21.554655075073242, 21.592416763305664, 19.891551971435547, 20.18294334411621, 19.921600341796875, 20.19865608215332], "step_mean_ms": 20.31447353363037, "step_p50_ms": 20.052271842956543, "step_p95_ms": 21.575424003601075, "sample_ms": 203.1447353363037, "sample_ms_from_mean": 203.1447353363037, "output_transfer_ms": 0.07918663322925568, "total_ms": 310.983469709754, "control_frequency_hz": 3.215604999626882, "prefill_share": 0.3011836591529417, "sample_share": 0.6532332265952979, "other_share": 0.014652768598738248, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.235696867108345, "prefix_embed_ms": 38.740318298339844, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 93.7874870300293, "step_ms": [20.275136947631836, 21.401567459106445, 22.13145637512207, 20.086368560791016, 20.079551696777344, 20.044736862182617, 19.781951904296875, 19.82195281982422, 19.675167083740234, 20.089311599731445], "step_mean_ms": 20.33872013092041, "step_p50_ms": 20.08296012878418, "step_p95_ms": 21.80300636291504, "sample_ms": 203.3872013092041, "sample_ms_from_mean": 203.3872013092041, "output_transfer_ms": 0.06481632590293884, "total_ms": 311.08456291258335, "control_frequency_hz": 3.2145600239283043, "prefill_share": 0.3014855065514265, "sample_share": 0.653800366707226, "other_share": 0.014817068829075672, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.627075865864754, "prefix_embed_ms": 41.25993728637695, "prefill_forward_ms": 55.1464958190918, "prefill_ms": 96.40643310546875, "step_ms": [20.10163116455078, 19.76972770690918, 19.803808212280273, 19.878528594970703, 20.18169593811035, 19.911104202270508, 19.766847610473633, 19.82713508605957, 19.880159378051758, 22.07548713684082], "step_mean_ms": 20.11961250305176, "step_p50_ms": 19.87934398651123, "step_p95_ms": 21.22328109741211, "sample_ms": 201.19612503051758, "sample_ms_from_mean": 201.19612503051758, "output_transfer_ms": 0.06613880395889282, "total_ms": 312.4540355056524, "control_frequency_hz": 3.2004707456623955, "prefill_share": 0.3085459688477114, "sample_share": 0.6439223123008051, "other_share": 0.016508868869287298, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.320350363850594, "prefix_embed_ms": 38.69481658935547, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 93.79420852661133, "step_ms": [20.249759674072266, 19.960704803466797, 19.71766471862793, 20.25391960144043, 19.87824058532715, 22.285215377807617, 19.8110408782959, 19.99135971069336, 19.670495986938477, 19.80259132385254], "step_mean_ms": 20.162099266052245, "step_p50_ms": 19.919472694396973, "step_p95_ms": 21.37113227844238, "sample_ms": 201.62099266052246, "sample_ms_from_mean": 201.62099266052246, "output_transfer_ms": 0.07835030555725098, "total_ms": 309.16495621204376, "control_frequency_hz": 3.234519242582398, "prefill_share": 0.30337917232211037, "sample_share": 0.6521469804690243, "other_share": 0.014073569038393588, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.504685178399086, "prefix_embed_ms": 38.31520080566406, "prefill_forward_ms": 55.044097900390625, "prefill_ms": 93.35929870605469, "step_ms": [20.186208724975586, 22.07788848876953, 20.069856643676758, 20.238496780395508, 19.867935180664062, 20.012128829956055, 19.95257568359375, 19.94495964050293, 20.13974380493164, 20.060991287231445], "step_mean_ms": 20.255078506469726, "step_p50_ms": 20.0654239654541, "step_p95_ms": 21.25016222000122, "sample_ms": 202.55078506469727, "sample_ms_from_mean": 202.55078506469727, "output_transfer_ms": 0.0723227858543396, "total_ms": 309.8386134952307, "control_frequency_hz": 3.2274866864371408, "prefill_share": 0.30131589362889966, "sample_share": 0.6537299621237013, "other_share": 0.014044478546868655, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.341023862361908, "prefix_embed_ms": 40.378238677978516, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 95.47558212280273, "step_ms": [20.592512130737305, 19.801408767700195, 19.90403175354004, 19.849088668823242, 19.8939208984375, 19.88422393798828, 19.713760375976562, 20.07356834411621, 21.083616256713867, 19.932767868041992], "step_mean_ms": 20.07288990020752, "step_p50_ms": 19.89897632598877, "step_p95_ms": 20.862619400024414, "sample_ms": 200.7288990020752, "sample_ms_from_mean": 200.7288990020752, "output_transfer_ms": 0.06068497896194458, "total_ms": 309.97440218925476, "control_frequency_hz": 3.22607284000648, "prefill_share": 0.30801118237018216, "sample_share": 0.6475660492749986, "other_share": 0.014092170812175543, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.350555017590523, "prefix_embed_ms": 38.37891387939453, "prefill_forward_ms": 55.153663635253906, "prefill_ms": 93.53257751464844, "step_ms": [20.85443115234375, 20.622112274169922, 20.929407119750977, 21.698463439941406, 20.761632919311523, 20.184127807617188, 21.665952682495117, 20.34832000732422, 19.87673568725586, 20.047168731689453], "step_mean_ms": 20.698835182189942, "step_p50_ms": 20.691872596740723, "step_p95_ms": 21.683833599090576, "sample_ms": 206.9883518218994, "sample_ms_from_mean": 206.9883518218994, "output_transfer_ms": 0.09102560579776764, "total_ms": 314.4545890390873, "control_frequency_hz": 3.180109417565848, "prefill_share": 0.2974438306035412, "sample_share": 0.6582456069552554, "other_share": 0.014285302984059106, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.800666943192482, "prefix_embed_ms": 38.30271911621094, "prefill_forward_ms": 55.12192153930664, "prefill_ms": 93.42464065551758, "step_ms": [20.958240509033203, 20.031776428222656, 22.00912094116211, 19.842592239379883, 19.784799575805664, 19.7923526763916, 19.654815673828125, 19.75324821472168, 19.685855865478516, 19.942079544067383], "step_mean_ms": 20.14548816680908, "step_p50_ms": 19.817472457885742, "step_p95_ms": 21.5362247467041, "sample_ms": 201.45488166809082, "sample_ms_from_mean": 201.45488166809082, "output_transfer_ms": 0.059701502323150635, "total_ms": 309.13619324564934, "control_frequency_hz": 3.234820192035452, "prefill_share": 0.30221191402612446, "sample_share": 0.6516703190040528, "other_share": 0.014221248021359526, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.439656510949135, "prefix_embed_ms": 38.70576095581055, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 93.78160095214844, "step_ms": [20.187360763549805, 19.66582489013672, 19.784704208374023, 20.05891227722168, 19.910911560058594, 19.723392486572266, 19.910112380981445, 19.829439163208008, 19.927936553955078, 19.90768051147461], "step_mean_ms": 19.890627479553224, "step_p50_ms": 19.908896446228027, "step_p95_ms": 20.129558944702147, "sample_ms": 198.90627479553223, "sample_ms_from_mean": 198.90627479553223, "output_transfer_ms": 0.06120838224887848, "total_ms": 306.5979275852442, "control_frequency_hz": 3.2616006503239245, "prefill_share": 0.30587813065394615, "sample_share": 0.6487528352266172, "other_share": 0.014381007005142278, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.360088035464287, "prefix_embed_ms": 40.53830337524414, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 95.62028884887695, "step_ms": [20.169824600219727, 19.831008911132812, 20.180767059326172, 20.14313507080078, 20.29007911682129, 19.970592498779297, 20.146495819091797, 19.848896026611328, 22.57097625732422, 19.758432388305664], "step_mean_ms": 20.291020774841307, "step_p50_ms": 20.14481544494629, "step_p95_ms": 21.544572544097896, "sample_ms": 202.9102077484131, "sample_ms_from_mean": 202.9102077484131, "output_transfer_ms": 0.05951337516307831, "total_ms": 312.2850526124239, "control_frequency_hz": 3.2022025762504143, "prefill_share": 0.30619553529368254, "sample_share": 0.6497595899994751, "other_share": 0.013881402802479287, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.542373940348625, "prefix_embed_ms": 42.45964813232422, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 97.53343963623047, "step_ms": [20.346431732177734, 19.66307258605957, 20.196704864501953, 19.859615325927734, 20.33126449584961, 19.63324737548828, 19.95622444152832, 21.011455535888672, 20.160064697265625, 20.00271987915039], "step_mean_ms": 20.11608009338379, "step_p50_ms": 20.081392288208008, "step_p95_ms": 20.71219482421875, "sample_ms": 201.1608009338379, "sample_ms_from_mean": 201.1608009338379, "output_transfer_ms": 0.06105192005634308, "total_ms": 312.5893138349056, "control_frequency_hz": 3.199085687644943, "prefill_share": 0.3120178308070469, "sample_share": 0.6435306391826343, "other_share": 0.01372934778793793, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.45836491882801, "prefix_embed_ms": 39.03913497924805, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 94.10985565185547, "step_ms": [20.79043197631836, 20.248672485351562, 20.4520320892334, 22.394943237304688, 20.78201675415039, 20.50275230407715, 20.43657684326172, 20.278911590576172, 20.392288208007812, 19.900127410888672], "step_mean_ms": 20.61787528991699, "step_p50_ms": 20.44430446624756, "step_p95_ms": 21.672913169860838, "sample_ms": 206.17875289916992, "sample_ms_from_mean": 206.17875289916992, "output_transfer_ms": 0.0612940639257431, "total_ms": 314.2818082123995, "control_frequency_hz": 3.181857727266782, "prefill_share": 0.29944417141781776, "sample_share": 0.6560314581104522, "other_share": 0.014234169976510407, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.304191917181015, "prefix_embed_ms": 39.34624099731445, "prefill_forward_ms": 55.046142578125, "prefill_ms": 94.39238357543945, "step_ms": [22.118175506591797, 20.11814308166504, 19.9835205078125, 20.045215606689453, 20.084575653076172, 20.848064422607422, 20.183359146118164, 20.08777618408203, 20.086336135864258, 19.79145622253418], "step_mean_ms": 20.334662246704102, "step_p50_ms": 20.087056159973145, "step_p95_ms": 21.546625518798827, "sample_ms": 203.34662246704102, "sample_ms_from_mean": 203.34662246704102, "output_transfer_ms": 0.08440762758255005, "total_ms": 311.6758428514004, "control_frequency_hz": 3.208461685228445, "prefill_share": 0.30285434607918427, "sample_share": 0.6524298470061147, "other_share": 0.014592844997373866, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.333072558045387, "prefix_embed_ms": 38.69955062866211, "prefill_forward_ms": 55.09836959838867, "prefill_ms": 93.79792022705078, "step_ms": [20.30659294128418, 20.022367477416992, 20.005855560302734, 19.985248565673828, 19.98476791381836, 22.206464767456055, 19.915647506713867, 19.919424057006836, 19.87820816040039, 19.769920349121094], "step_mean_ms": 20.199449729919433, "step_p50_ms": 19.985008239746094, "step_p95_ms": 21.351522445678707, "sample_ms": 201.99449729919434, "sample_ms_from_mean": 201.99449729919434, "output_transfer_ms": 0.058570876717567444, "total_ms": 311.5999847650528, "control_frequency_hz": 3.209242775650335, "prefill_share": 0.3010202978596891, "sample_share": 0.6482493811785605, "other_share": 0.014171771565952873, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.534962475299835, "prefix_embed_ms": 38.7786865234375, "prefill_forward_ms": 55.12294387817383, "prefill_ms": 93.90163040161133, "step_ms": [23.52854347229004, 20.06755256652832, 20.08252716064453, 19.915935516357422, 22.631872177124023, 20.0567684173584, 20.120895385742188, 20.21785545349121, 21.098112106323242, 21.036767959594727], "step_mean_ms": 20.87568302154541, "step_p50_ms": 20.1693754196167, "step_p95_ms": 23.12504138946533, "sample_ms": 208.7568302154541, "sample_ms_from_mean": 208.7568302154541, "output_transfer_ms": 0.061025843024253845, "total_ms": 316.8014846742153, "control_frequency_hz": 3.156550863479557, "prefill_share": 0.29640527252634447, "sample_share": 0.6589515526738469, "other_share": 0.014352949587662978, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.409438818693161, "prefix_embed_ms": 40.41823959350586, "prefill_forward_ms": 55.02873611450195, "prefill_ms": 95.44697570800781, "step_ms": [20.494112014770508, 19.74393653869629, 22.57276725769043, 19.783872604370117, 22.33647918701172, 22.619840621948242, 20.191200256347656, 19.933536529541016, 22.637407302856445, 19.959392547607422], "step_mean_ms": 21.027254486083983, "step_p50_ms": 20.342656135559082, "step_p95_ms": 22.629502296447754, "sample_ms": 210.27254486083984, "sample_ms_from_mean": 210.27254486083984, "output_transfer_ms": 0.061571598052978516, "total_ms": 319.75049898028374, "control_frequency_hz": 3.12743843462043, "prefill_share": 0.29850454029750617, "sample_share": 0.6576144385432391, "other_share": 0.014261019167232372, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.310673922300339, "prefix_embed_ms": 38.344032287597656, "prefill_forward_ms": 55.0195198059082, "prefill_ms": 93.36355209350586, "step_ms": [20.492895126342773, 19.84022331237793, 22.662015914916992, 19.732351303100586, 20.349760055541992, 22.545663833618164, 22.737375259399414, 19.723264694213867, 20.447328567504883, 20.002239227294922], "step_mean_ms": 20.85331172943115, "step_p50_ms": 20.398544311523438, "step_p95_ms": 22.703463554382324, "sample_ms": 208.53311729431152, "sample_ms_from_mean": 208.53311729431152, "output_transfer_ms": 0.06047263741493225, "total_ms": 316.3346443325281, "control_frequency_hz": 3.1612092381155983, "prefill_share": 0.29514172338127764, "sample_share": 0.6592168168438213, "other_share": 0.016017304698593988, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.39665362238884, "prefix_embed_ms": 41.130367279052734, "prefill_forward_ms": 55.25708770751953, "prefill_ms": 96.38745498657227, "step_ms": [21.646751403808594, 20.677440643310547, 22.555007934570312, 20.009504318237305, 20.441120147705078, 19.801088333129883, 22.7227840423584, 20.058080673217773, 19.94108772277832, 19.849695205688477], "step_mean_ms": 20.77025604248047, "step_p50_ms": 20.249600410461426, "step_p95_ms": 22.64728479385376, "sample_ms": 207.7025604248047, "sample_ms_from_mean": 207.7025604248047, "output_transfer_ms": 0.06612204015254974, "total_ms": 318.38371604681015, "control_frequency_hz": 3.1408641510201347, "prefill_share": 0.30273990197539175, "sample_share": 0.6523655261133624, "other_share": 0.015173279063623795, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.164700448513031, "prefix_embed_ms": 41.57497787475586, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 96.60269165039062, "step_ms": [20.554847717285156, 19.755647659301758, 19.9586238861084, 19.89891242980957, 22.754911422729492, 20.837312698364258, 20.551679611206055, 22.777311325073242, 20.230880737304688, 19.973535537719727], "step_mean_ms": 20.729366302490234, "step_p50_ms": 20.39128017425537, "step_p95_ms": 22.767231369018553, "sample_ms": 207.29366302490234, "sample_ms_from_mean": 207.29366302490234, "output_transfer_ms": 0.07198378443717957, "total_ms": 318.83595138788223, "control_frequency_hz": 3.136409164797864, "prefill_share": 0.30298556743642724, "sample_share": 0.6501577445158238, "other_share": 0.014750257802382174, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.962765499949455, "prefix_embed_ms": 41.76319885253906, "prefill_forward_ms": 55.107521057128906, "prefill_ms": 96.87071990966797, "step_ms": [20.40559959411621, 19.970111846923828, 20.740095138549805, 19.748640060424805, 22.63248062133789, 19.710847854614258, 19.900224685668945, 20.238943099975586, 22.48793601989746, 19.83296012878418], "step_mean_ms": 20.566783905029297, "step_p50_ms": 20.104527473449707, "step_p95_ms": 22.567435550689698, "sample_ms": 205.66783905029297, "sample_ms_from_mean": 205.66783905029297, "output_transfer_ms": 0.06637535989284515, "total_ms": 317.066440358758, "control_frequency_hz": 3.153913100574468, "prefill_share": 0.30552183258518173, "sample_share": 0.6486584919475602, "other_share": 0.014188636721894781, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.449504315853119, "prefix_embed_ms": 38.691680908203125, "prefill_forward_ms": 55.067649841308594, "prefill_ms": 93.75933074951172, "step_ms": [20.353343963623047, 22.540447235107422, 20.051359176635742, 20.397600173950195, 22.821504592895508, 20.005216598510742, 20.212575912475586, 19.8056640625, 22.48566436767578, 21.086591720581055], "step_mean_ms": 20.97599678039551, "step_p50_ms": 20.37547206878662, "step_p95_ms": 22.69502878189087, "sample_ms": 209.75996780395508, "sample_ms_from_mean": 209.75996780395508, "output_transfer_ms": 0.06486475467681885, "total_ms": 317.5169788300991, "control_frequency_hz": 3.1494378778877596, "prefill_share": 0.29528918766791873, "sample_share": 0.660625987866293, "other_share": 0.014119910130857463, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.925255551934242, "prefix_embed_ms": 39.07795333862305, "prefill_forward_ms": 55.03180694580078, "prefill_ms": 94.10976028442383, "step_ms": [20.38652801513672, 20.002784729003906, 22.704063415527344, 21.209632873535156, 19.983135223388672, 19.761632919311523, 22.95884895324707, 19.796863555908203, 19.89139175415039, 20.709375381469727], "step_mean_ms": 20.740425682067873, "step_p50_ms": 20.194656372070312, "step_p95_ms": 22.844195461273195, "sample_ms": 207.4042568206787, "sample_ms_from_mean": 207.4042568206787, "output_transfer_ms": 0.0711735337972641, "total_ms": 317.49734841287136, "control_frequency_hz": 3.149632603229199, "prefill_share": 0.2964111692739057, "sample_share": 0.6532472093309316, "other_share": 0.018856542430874066, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.51831229031086, "prefix_embed_ms": 40.98070526123047, "prefill_forward_ms": 55.378944396972656, "prefill_ms": 96.35964965820312, "step_ms": [20.44691276550293, 19.950624465942383, 22.38377571105957, 19.83216094970703, 19.923744201660156, 19.823808670043945, 23.811967849731445, 19.800832748413086, 20.221664428710938, 19.981727600097656], "step_mean_ms": 20.617721939086913, "step_p50_ms": 19.96617603302002, "step_p95_ms": 23.1692813873291, "sample_ms": 206.17721939086914, "sample_ms_from_mean": 206.17721939086914, "output_transfer_ms": 0.06444007158279419, "total_ms": 316.49768352508545, "control_frequency_hz": 3.1595807870130606, "prefill_share": 0.3044560977033682, "sample_share": 0.6514335811071668, "other_share": 0.013832840940121847, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.581319987773895, "prefix_embed_ms": 41.58848190307617, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 96.68275451660156, "step_ms": [21.45903968811035, 19.90403175354004, 20.677888870239258, 22.686752319335938, 19.92073631286621, 19.891616821289062, 22.670175552368164, 21.039840698242188, 20.267776489257812, 20.351423263549805], "step_mean_ms": 20.886928176879884, "step_p50_ms": 20.51465606689453, "step_p95_ms": 22.67929277420044, "sample_ms": 208.86928176879883, "sample_ms_from_mean": 208.86928176879883, "output_transfer_ms": 0.06262212991714478, "total_ms": 319.8388274759054, "control_frequency_hz": 3.126574743572475, "prefill_share": 0.30228585841062405, "sample_share": 0.6530454210864491, "other_share": 0.014516214649279097, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.385265409946442, "prefix_embed_ms": 41.97200012207031, "prefill_forward_ms": 55.181312561035156, "prefill_ms": 97.15331268310547, "step_ms": [21.170400619506836, 20.34111976623535, 20.36617660522461, 20.688575744628906, 22.906911849975586, 20.32624053955078, 20.957727432250977, 21.330432891845703, 22.78495979309082, 20.116928100585938], "step_mean_ms": 21.09894733428955, "step_p50_ms": 20.82315158843994, "step_p95_ms": 22.852033424377442, "sample_ms": 210.9894733428955, "sample_ms_from_mean": 210.9894733428955, "output_transfer_ms": 0.0606440007686615, "total_ms": 322.3075047135353, "control_frequency_hz": 3.1026271041649904, "prefill_share": 0.30143050119001935, "sample_share": 0.6546216586871643, "other_share": 0.014640705561644537, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.244430810213089, "prefix_embed_ms": 41.4543342590332, "prefill_forward_ms": 55.12908935546875, "prefill_ms": 96.58342361450195, "step_ms": [20.53539276123047, 20.078975677490234, 20.11302375793457, 21.82080078125, 22.85526466369629, 19.946016311645508, 20.21788787841797, 19.790559768676758, 22.88332748413086, 19.91948890686035], "step_mean_ms": 20.8160737991333, "step_p50_ms": 20.16545581817627, "step_p95_ms": 22.870699214935303, "sample_ms": 208.160737991333, "sample_ms_from_mean": 208.160737991333, "output_transfer_ms": 0.060616061091423035, "total_ms": 318.52937303483486, "control_frequency_hz": 3.139427897880672, "prefill_share": 0.30321669456819433, "sample_share": 0.6535056280934199, "other_share": 0.014065153599525124, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.77078266441822, "prefix_embed_ms": 38.9986572265625, "prefill_forward_ms": 55.016448974609375, "prefill_ms": 94.01510620117188, "step_ms": [21.935903549194336, 20.392576217651367, 22.48464012145996, 19.897184371948242, 19.963520050048828, 22.406784057617188, 20.271263122558594, 22.87980842590332, 19.809215545654297, 22.516096115112305], "step_mean_ms": 21.255699157714844, "step_p50_ms": 21.16423988342285, "step_p95_ms": 22.716137886047363, "sample_ms": 212.55699157714844, "sample_ms_from_mean": 212.55699157714844, "output_transfer_ms": 0.0689532607793808, "total_ms": 321.06405682861805, "control_frequency_hz": 3.114643258039294, "prefill_share": 0.29282351668332823, "sample_share": 0.6620392007648804, "other_share": 0.014490015391487634, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.346488863229752, "prefix_embed_ms": 40.162784576416016, "prefill_forward_ms": 55.20073699951172, "prefill_ms": 95.36352157592773, "step_ms": [21.95996856689453, 20.643775939941406, 20.35478401184082, 20.569440841674805, 22.093120574951172, 20.476255416870117, 20.766464233398438, 20.541471481323242, 20.364896774291992, 20.980928421020508], "step_mean_ms": 20.875110626220703, "step_p50_ms": 20.606608390808105, "step_p95_ms": 22.033202171325684, "sample_ms": 208.75110626220703, "sample_ms_from_mean": 208.75110626220703, "output_transfer_ms": 0.061709433794021606, "total_ms": 318.2947114109993, "control_frequency_hz": 3.141742429734392, "prefill_share": 0.29960762198398333, "sample_share": 0.6558422077979685, "other_share": 0.014992034440933716, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.827299043536186, "prefix_embed_ms": 39.973087310791016, "prefill_forward_ms": 55.12192153930664, "prefill_ms": 95.09500885009766, "step_ms": [21.62131118774414, 20.413280487060547, 20.469600677490234, 20.31395149230957, 20.474592208862305, 20.258079528808594, 19.788576126098633, 20.29417610168457, 20.326271057128906, 20.68854331970215], "step_mean_ms": 20.464838218688964, "step_p50_ms": 20.369775772094727, "step_p95_ms": 21.201565647125243, "sample_ms": 204.64838218688965, "sample_ms_from_mean": 204.64838218688965, "output_transfer_ms": 0.06153993308544159, "total_ms": 314.2944797873497, "control_frequency_hz": 3.18172944264435, "prefill_share": 0.3025665895068807, "sample_share": 0.6511357829935602, "other_share": 0.014834017374072962, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.533321648836136, "prefix_embed_ms": 39.64076614379883, "prefill_forward_ms": 55.09632110595703, "prefill_ms": 94.73708724975586, "step_ms": [21.758079528808594, 20.739328384399414, 20.344928741455078, 20.189472198486328, 21.106048583984375, 20.91334342956543, 21.21788787841797, 20.72051239013672, 20.813312530517578, 20.548128128051758], "step_mean_ms": 20.835104179382324, "step_p50_ms": 20.776320457458496, "step_p95_ms": 21.51499328613281, "sample_ms": 208.35104179382324, "sample_ms_from_mean": 208.35104179382324, "output_transfer_ms": 0.084633007645607, "total_ms": 318.53472255170345, "control_frequency_hz": 3.1393751738876237, "prefill_share": 0.2974152597583093, "sample_share": 0.6540920880611514, "other_share": 0.01515890893451605, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.042959824204445, "prefix_embed_ms": 40.71798324584961, "prefill_forward_ms": 55.1802864074707, "prefill_ms": 95.89826965332031, "step_ms": [22.963680267333984, 20.658496856689453, 20.360671997070312, 20.608352661132812, 20.433120727539062, 20.700576782226562, 20.826719284057617, 20.764095306396484, 20.46691131591797, 22.091903686523438], "step_mean_ms": 20.987452888488768, "step_p50_ms": 20.679536819458008, "step_p95_ms": 22.571380805969238, "sample_ms": 209.8745288848877, "sample_ms_from_mean": 209.8745288848877, "output_transfer_ms": 0.07121637463569641, "total_ms": 320.7605145871639, "control_frequency_hz": 3.1175907087162953, "prefill_share": 0.29897155445316126, "sample_share": 0.6543028812477356, "other_share": 0.01519370255527955, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.268298909068108, "prefix_embed_ms": 40.47951889038086, "prefill_forward_ms": 55.17414474487305, "prefill_ms": 95.6536636352539, "step_ms": [23.046016693115234, 20.717727661132812, 20.397823333740234, 20.79327964782715, 21.414016723632812, 23.917280197143555, 20.5850887298584, 24.140832901000977, 20.391904830932617, 23.555295944213867], "step_mean_ms": 21.895926666259765, "step_p50_ms": 21.10364818572998, "step_p95_ms": 24.040234184265138, "sample_ms": 218.95926666259766, "sample_ms_from_mean": 218.95926666259766, "output_transfer_ms": 0.06545893847942352, "total_ms": 329.766720533371, "control_frequency_hz": 3.0324466895342894, "prefill_share": 0.29006463563255214, "sample_share": 0.66398230333385, "other_share": 0.014616491258353377, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.94965247809887, "prefix_embed_ms": 43.482398986816406, "prefill_forward_ms": 55.12294387817383, "prefill_ms": 98.60534286499023, "step_ms": [40.452415466308594, 27.742944717407227, 27.879711151123047, 28.024864196777344, 27.4149112701416, 29.452735900878906, 28.446144104003906, 28.69011116027832, 27.845760345458984, 28.434080123901367], "step_mean_ms": 29.43836784362793, "step_p50_ms": 28.229472160339355, "step_p95_ms": 35.50255966186522, "sample_ms": 294.3836784362793, "sample_ms_from_mean": 294.3836784362793, "output_transfer_ms": 0.07784180343151093, "total_ms": 408.48384611308575, "control_frequency_hz": 2.4480772238987325, "prefill_share": 0.24139349402250798, "sample_share": 0.7206739782673838, "other_share": 0.013384447346718932, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.505922138690948, "prefix_embed_ms": 53.882625579833984, "prefill_forward_ms": 55.48236846923828, "prefill_ms": 109.36499404907227, "step_ms": [27.056991577148438, 26.441696166992188, 26.438560485839844, 26.447071075439453, 29.309343338012695, 26.785568237304688, 26.50377655029297, 27.781728744506836, 26.33033561706543, 26.761215209960938], "step_mean_ms": 26.98562870025635, "step_p50_ms": 26.632495880126953, "step_p95_ms": 28.62191677093506, "sample_ms": 269.8562870025635, "sample_ms_from_mean": 269.8562870025635, "output_transfer_ms": 0.07452443242073059, "total_ms": 395.0967267155647, "control_frequency_hz": 2.531025777694972, "prefill_share": 0.2768056191156591, "sample_share": 0.6830132186765407, "other_share": 0.013401779196792094, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.059481486678123, "prefix_embed_ms": 52.13631820678711, "prefill_forward_ms": 55.590911865234375, "prefill_ms": 107.72723007202148, "step_ms": [27.776735305786133, 26.78972816467285, 27.757152557373047, 27.39507293701172, 29.308704376220703, 26.695552825927734, 26.727359771728516, 27.54582405090332, 26.77225685119629, 26.49193572998047], "step_mean_ms": 27.32603225708008, "step_p50_ms": 27.092400550842285, "step_p95_ms": 28.619318294525144, "sample_ms": 273.2603225708008, "sample_ms_from_mean": 273.2603225708008, "output_transfer_ms": 0.0750422477722168, "total_ms": 396.32985182106495, "control_frequency_hz": 2.5231508436853254, "prefill_share": 0.27181205144410414, "sample_share": 0.6894770134402401, "other_share": 0.01314000300472837, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.23092120885849, "prefix_embed_ms": 51.42863845825195, "prefill_forward_ms": 55.5417594909668, "prefill_ms": 106.97039794921875, "step_ms": [27.074432373046875, 26.551776885986328, 26.18671989440918, 26.798240661621094, 26.576416015625, 26.632896423339844, 29.584192276000977, 27.172576904296875, 26.3002872467041, 26.607999801635742], "step_mean_ms": 26.948553848266602, "step_p50_ms": 26.620448112487793, "step_p95_ms": 28.49896535873413, "sample_ms": 269.485538482666, "sample_ms_from_mean": 269.485538482666, "output_transfer_ms": 0.07576681673526764, "total_ms": 392.08095520734787, "control_frequency_hz": 2.5504936843238424, "prefill_share": 0.2728273243790905, "sample_share": 0.6873211639166494, "other_share": 0.013564368988687053, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.831978008151054, "prefix_embed_ms": 52.460960388183594, "prefill_forward_ms": 59.34284973144531, "prefill_ms": 111.8038101196289, "step_ms": [29.65433692932129, 27.388959884643555, 26.788671493530273, 27.08940887451172, 27.05366325378418, 26.527103424072266, 26.193599700927734, 26.87504005432129, 26.700511932373047, 26.68707275390625], "step_mean_ms": 27.09583683013916, "step_p50_ms": 26.83185577392578, "step_p95_ms": 28.634917259216305, "sample_ms": 270.9583683013916, "sample_ms_from_mean": 270.9583683013916, "output_transfer_ms": 0.07203593850135803, "total_ms": 397.7823331952095, "control_frequency_hz": 2.5139376904133535, "prefill_share": 0.281067812191553, "sample_share": 0.6811724546057712, "other_share": 0.01286165925580678, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.299936100840569, "prefix_embed_ms": 51.264671325683594, "prefill_forward_ms": 59.198463439941406, "prefill_ms": 110.463134765625, "step_ms": [27.7096004486084, 26.553504943847656, 29.209728240966797, 26.89308738708496, 26.496896743774414, 29.32089614868164, 27.806175231933594, 27.675552368164062, 27.930240631103516, 27.45699119567871], "step_mean_ms": 27.705267333984374, "step_p50_ms": 27.69257640838623, "step_p95_ms": 29.27087059020996, "sample_ms": 277.05267333984375, "sample_ms_from_mean": 277.05267333984375, "output_transfer_ms": 0.07707066833972931, "total_ms": 404.31675501167774, "control_frequency_hz": 2.473308334627679, "prefill_share": 0.2732093918849208, "sample_share": 0.6852366861023154, "other_share": 0.013415076347434666, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.133160278201103, "prefix_embed_ms": 54.69472122192383, "prefill_forward_ms": 59.820030212402344, "prefill_ms": 114.51475143432617, "step_ms": [28.12303924560547, 26.54591941833496, 26.584096908569336, 26.6909122467041, 27.423328399658203, 26.361600875854492, 26.648479461669922, 26.624544143676758, 26.41155242919922, 26.628416061401367], "step_mean_ms": 26.804188919067382, "step_p50_ms": 26.626480102539062, "step_p95_ms": 27.8081693649292, "sample_ms": 268.0418891906738, "sample_ms_from_mean": 268.0418891906738, "output_transfer_ms": 0.08401274681091309, "total_ms": 398.32404255867004, "control_frequency_hz": 2.510518806689174, "prefill_share": 0.2874914371192119, "sample_share": 0.6729242037936822, "other_share": 0.013933954056615907, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.880967438220978, "prefix_embed_ms": 49.86483383178711, "prefill_forward_ms": 59.270145416259766, "prefill_ms": 109.13497924804688, "step_ms": [27.0231990814209, 26.486143112182617, 26.805280685424805, 26.97020721435547, 26.604736328125, 26.5064640045166, 26.809024810791016, 28.266016006469727, 26.812416076660156, 26.421279907226562], "step_mean_ms": 26.870476722717285, "step_p50_ms": 26.80715274810791, "step_p95_ms": 27.706748390197752, "sample_ms": 268.70476722717285, "sample_ms_from_mean": 268.70476722717285, "output_transfer_ms": 0.07242150604724884, "total_ms": 392.92762614786625, "control_frequency_hz": 2.5449979422512805, "prefill_share": 0.2777482976139155, "sample_share": 0.6838530796662642, "other_share": 0.01306726833823104, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.10933704674244, "prefix_embed_ms": 51.16502380371094, "prefill_forward_ms": 59.22099304199219, "prefill_ms": 110.38601684570312, "step_ms": [27.928255081176758, 27.3767032623291, 26.628448486328125, 27.61609649658203, 26.63814353942871, 26.726560592651367, 26.806528091430664, 26.77027130126953, 26.874176025390625, 26.474271774291992], "step_mean_ms": 26.983945465087892, "step_p50_ms": 26.788399696350098, "step_p95_ms": 27.787783718109132, "sample_ms": 269.8394546508789, "sample_ms_from_mean": 269.8394546508789, "output_transfer_ms": 0.07531605660915375, "total_ms": 396.57012186944485, "control_frequency_hz": 2.5216221415924287, "prefill_share": 0.27835182420031984, "sample_share": 0.6804331435228823, "other_share": 0.015533185506948403, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.561378672719002, "prefix_embed_ms": 52.01567840576172, "prefill_forward_ms": 59.424766540527344, "prefill_ms": 111.44044494628906, "step_ms": [27.17043113708496, 26.53548812866211, 26.54761505126953, 26.181055068969727, 26.218368530273438, 28.670944213867188, 27.355199813842773, 27.25948715209961, 27.50694465637207, 27.410720825195312], "step_mean_ms": 27.085625457763673, "step_p50_ms": 27.214959144592285, "step_p95_ms": 28.147144412994383, "sample_ms": 270.8562545776367, "sample_ms_from_mean": 270.8562545776367, "output_transfer_ms": 0.10252371430397034, "total_ms": 398.3019758015871, "control_frequency_hz": 2.51065789464762, "prefill_share": 0.2797888328874441, "sample_share": 0.6800273938700292, "other_share": 0.01341036252679585, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.555388405919075, "prefix_embed_ms": 51.158111572265625, "prefill_forward_ms": 59.21587371826172, "prefill_ms": 110.37398529052734, "step_ms": [27.275775909423828, 26.304224014282227, 26.425983428955078, 26.633216857910156, 26.932159423828125, 26.543359756469727, 27.638015747070312, 26.077695846557617, 26.208415985107422, 26.5251522064209], "step_mean_ms": 26.65639991760254, "step_p50_ms": 26.534255981445312, "step_p95_ms": 27.475007820129395, "sample_ms": 266.5639991760254, "sample_ms_from_mean": 266.5639991760254, "output_transfer_ms": 0.07186830043792725, "total_ms": 392.86909624934196, "control_frequency_hz": 2.545377097732652, "prefill_share": 0.2809434143439889, "sample_share": 0.6785058985826806, "other_share": 0.013500311241243658, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.057715699076653, "prefix_embed_ms": 50.31737518310547, "prefill_forward_ms": 59.23225784301758, "prefill_ms": 109.54963302612305, "step_ms": [26.83558464050293, 26.698591232299805, 26.814111709594727, 26.6943359375, 27.143007278442383, 27.71993637084961, 26.873119354248047, 28.054975509643555, 27.02070426940918, 26.546367645263672], "step_mean_ms": 27.04007339477539, "step_p50_ms": 26.85435199737549, "step_p95_ms": 27.90420789718628, "sample_ms": 270.4007339477539, "sample_ms_from_mean": 270.4007339477539, "output_transfer_ms": 0.07410906255245209, "total_ms": 395.22022753953934, "control_frequency_hz": 2.530234867343565, "prefill_share": 0.2771863011873887, "sample_share": 0.6841773651898978, "other_share": 0.013000437341024634, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.844062849879265, "prefix_embed_ms": 49.989952087402344, "prefill_forward_ms": 59.273216247558594, "prefill_ms": 109.26316833496094, "step_ms": [27.1278076171875, 26.619647979736328, 26.60416030883789, 26.78995132446289, 29.00150489807129, 26.71107292175293, 26.431583404541016, 26.83251190185547, 27.4685115814209, 26.797088623046875], "step_mean_ms": 27.03838405609131, "step_p50_ms": 26.793519973754883, "step_p95_ms": 28.311657905578613, "sample_ms": 270.3838405609131, "sample_ms_from_mean": 270.3838405609131, "output_transfer_ms": 0.07055141031742096, "total_ms": 394.7155103087425, "control_frequency_hz": 2.5334702434617022, "prefill_share": 0.27681498568297047, "sample_share": 0.6850094143739666, "other_share": 0.013057219739453601, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.522430762648582, "prefix_embed_ms": 53.857887268066406, "prefill_forward_ms": 59.29983901977539, "prefill_ms": 113.1577262878418, "step_ms": [27.64339256286621, 26.779712677001953, 26.789472579956055, 28.975679397583008, 26.422592163085938, 27.202272415161133, 27.20560073852539, 27.25222396850586, 27.360095977783203, 27.29484748840332], "step_mean_ms": 27.292588996887208, "step_p50_ms": 27.228912353515625, "step_p95_ms": 28.37615032196045, "sample_ms": 272.92588996887207, "sample_ms_from_mean": 272.92588996887207, "output_transfer_ms": 0.088447704911232, "total_ms": 402.98436395823956, "control_frequency_hz": 2.481485857609175, "prefill_share": 0.2807992974624894, "sample_share": 0.6772617361331539, "other_share": 0.01560822155029737, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.174999013543129, "prefix_embed_ms": 51.71424102783203, "prefill_forward_ms": 59.217918395996094, "prefill_ms": 110.93215942382812, "step_ms": [26.98886489868164, 26.698591232299805, 26.590911865234375, 26.69443130493164, 26.73993682861328, 29.27187156677246, 26.146591186523438, 26.53945541381836, 26.276607513427734, 26.48041534423828], "step_mean_ms": 26.8427677154541, "step_p50_ms": 26.642671585083008, "step_p95_ms": 28.24451856613159, "sample_ms": 268.427677154541, "sample_ms_from_mean": 268.427677154541, "output_transfer_ms": 0.07268786430358887, "total_ms": 394.8377501219511, "control_frequency_hz": 2.5326858936136074, "prefill_share": 0.2809563153208253, "sample_share": 0.6798429913847737, "other_share": 0.013246521296709387, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.29987446963787, "prefix_embed_ms": 50.336673736572266, "prefill_forward_ms": 59.226112365722656, "prefill_ms": 109.56278610229492, "step_ms": [27.220895767211914, 26.71295928955078, 26.728992462158203, 26.34707260131836, 26.682432174682617, 28.02524757385254, 26.900287628173828, 26.074207305908203, 26.100351333618164, 26.226560592651367], "step_mean_ms": 26.701900672912597, "step_p50_ms": 26.6976957321167, "step_p95_ms": 27.663289260864257, "sample_ms": 267.019006729126, "sample_ms_from_mean": 267.019006729126, "output_transfer_ms": 0.07146596908569336, "total_ms": 392.17765256762505, "control_frequency_hz": 2.549864821345386, "prefill_share": 0.27937029401083097, "sample_share": 0.6808623718891852, "other_share": 0.013321817965085848, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.801635518670082, "prefix_embed_ms": 50.30944061279297, "prefill_forward_ms": 59.29062271118164, "prefill_ms": 109.60006332397461, "step_ms": [29.983295440673828, 26.733503341674805, 28.738719940185547, 27.911968231201172, 27.322431564331055, 27.163232803344727, 27.218463897705078, 26.508960723876953, 26.871807098388672, 29.184703826904297], "step_mean_ms": 27.763708686828615, "step_p50_ms": 27.270447731018066, "step_p95_ms": 29.62392921447754, "sample_ms": 277.63708686828613, "sample_ms_from_mean": 277.63708686828613, "output_transfer_ms": 0.07209368050098419, "total_ms": 402.33255736529827, "control_frequency_hz": 2.4855060364703445, "prefill_share": 0.2724116189892709, "sample_share": 0.6900686553591666, "other_share": 0.01297851212454933, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.017190128564835, "prefix_embed_ms": 50.15865707397461, "prefill_forward_ms": 59.227134704589844, "prefill_ms": 109.38579177856445, "step_ms": [26.814847946166992, 26.141599655151367, 26.627424240112305, 28.843584060668945, 26.864479064941406, 26.920703887939453, 26.12656021118164, 26.528799057006836, 26.799007415771484, 26.62633514404297], "step_mean_ms": 26.82933406829834, "step_p50_ms": 26.713215827941895, "step_p95_ms": 27.97828798294067, "sample_ms": 268.2933406829834, "sample_ms_from_mean": 268.2933406829834, "output_transfer_ms": 0.07421709597110748, "total_ms": 393.04359816014767, "control_frequency_hz": 2.544247011479232, "prefill_share": 0.2783044738309022, "sample_share": 0.68260453023246, "other_share": 0.013415963263992251, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.200317949056625, "prefix_embed_ms": 50.62745666503906, "prefill_forward_ms": 59.38585662841797, "prefill_ms": 110.01331329345703, "step_ms": [27.45667266845703, 26.77884864807129, 26.57094383239746, 28.257919311523438, 26.716415405273438, 26.166048049926758, 26.609088897705078, 29.755680084228516, 28.02400016784668, 27.112415313720703], "step_mean_ms": 27.344803237915038, "step_p50_ms": 26.945631980895996, "step_p95_ms": 29.081687736511228, "sample_ms": 273.4480323791504, "sample_ms_from_mean": 273.4480323791504, "output_transfer_ms": 0.07424317300319672, "total_ms": 399.0829177200794, "control_frequency_hz": 2.5057449356963195, "prefill_share": 0.27566530264425254, "sample_share": 0.6851910223101793, "other_share": 0.013398245547464457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.250717401504517, "prefix_embed_ms": 51.64281463623047, "prefill_forward_ms": 58.614784240722656, "prefill_ms": 110.25759887695312, "step_ms": [29.33171272277832, 27.421855926513672, 26.68239974975586, 26.614912033081055, 26.957887649536133, 26.400672912597656, 29.206144332885742, 26.775327682495117, 26.746015548706055, 26.690143585205078], "step_mean_ms": 27.28270721435547, "step_p50_ms": 26.760671615600586, "step_p95_ms": 29.27520694732666, "sample_ms": 272.8270721435547, "sample_ms_from_mean": 272.8270721435547, "output_transfer_ms": 0.07148832082748413, "total_ms": 398.7764548510313, "control_frequency_hz": 2.507670620557486, "prefill_share": 0.27648974139694743, "sample_share": 0.6841604333071098, "other_share": 0.013465133266700447, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.3794876486063, "prefix_embed_ms": 50.955902099609375, "prefill_forward_ms": 58.63731384277344, "prefill_ms": 109.59321594238281, "step_ms": [28.816959381103516, 27.443296432495117, 26.945152282714844, 26.44051170349121, 26.806528091430664, 26.469791412353516, 26.392288208007812, 26.352224349975586, 28.5382080078125, 26.744831085205078], "step_mean_ms": 27.094979095458985, "step_p50_ms": 26.77567958831787, "step_p95_ms": 28.69152126312256, "sample_ms": 270.94979095458984, "sample_ms_from_mean": 270.94979095458984, "output_transfer_ms": 0.07550418376922607, "total_ms": 396.4016195386648, "control_frequency_hz": 2.5226940322892917, "prefill_share": 0.2764701518372408, "sample_share": 0.6835234206911749, "other_share": 0.013631681968417308, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.640686377882957, "prefix_embed_ms": 52.411617279052734, "prefill_forward_ms": 58.891231536865234, "prefill_ms": 111.30284881591797, "step_ms": [28.177824020385742, 26.755456924438477, 27.912063598632812, 27.37481689453125, 26.532480239868164, 26.330591201782227, 26.394559860229492, 26.710847854614258, 26.417823791503906, 26.51081657409668], "step_mean_ms": 26.9117280960083, "step_p50_ms": 26.62166404724121, "step_p95_ms": 28.058231830596924, "sample_ms": 269.117280960083, "sample_ms_from_mean": 269.117280960083, "output_transfer_ms": 0.0712815672159195, "total_ms": 396.34321071207523, "control_frequency_hz": 2.5230657999751966, "prefill_share": 0.28082441128725244, "sample_share": 0.6790006077727015, "other_share": 0.013147980967336437, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.988246485590935, "prefix_embed_ms": 52.09392166137695, "prefill_forward_ms": 57.74643325805664, "prefill_ms": 109.8403549194336, "step_ms": [27.282304763793945, 26.827199935913086, 26.84409523010254, 26.666303634643555, 28.662687301635742, 26.595327377319336, 26.518016815185547, 26.905887603759766, 26.48627281188965, 26.689632415771484], "step_mean_ms": 26.947772789001466, "step_p50_ms": 26.758416175842285, "step_p95_ms": 28.04151515960693, "sample_ms": 269.47772789001465, "sample_ms_from_mean": 269.47772789001465, "output_transfer_ms": 0.09009242057800293, "total_ms": 394.84304934740067, "control_frequency_hz": 2.5326519021996385, "prefill_share": 0.2781873838249869, "sample_share": 0.6824932801410821, "other_share": 0.013794411832209556, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.402452200651169, "prefix_embed_ms": 50.21123123168945, "prefill_forward_ms": 57.186302185058594, "prefill_ms": 107.39753341674805, "step_ms": [26.82080078125, 26.641664505004883, 26.50307273864746, 26.252031326293945, 26.4520320892334, 26.585952758789062, 26.493568420410156, 27.596223831176758, 26.369983673095703, 26.858144760131836], "step_mean_ms": 26.65734748840332, "step_p50_ms": 26.54451274871826, "step_p95_ms": 27.26408824920654, "sample_ms": 266.5734748840332, "sample_ms_from_mean": 266.5734748840332, "output_transfer_ms": 0.07220357656478882, "total_ms": 389.617919921875, "control_frequency_hz": 2.566617059606799, "prefill_share": 0.2756483414271168, "sample_share": 0.6841920282760241, "other_share": 0.013275200085547702, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.976964443922043, "prefix_embed_ms": 49.88889694213867, "prefill_forward_ms": 57.16582489013672, "prefill_ms": 107.05472183227539, "step_ms": [29.416767120361328, 26.362272262573242, 26.15990447998047, 26.413375854492188, 27.088512420654297, 28.34819221496582, 26.34351921081543, 26.352703094482422, 26.42937660217285, 26.937759399414062], "step_mean_ms": 26.98523826599121, "step_p50_ms": 26.42137622833252, "step_p95_ms": 28.935908412933347, "sample_ms": 269.8523826599121, "sample_ms_from_mean": 269.8523826599121, "output_transfer_ms": 0.08137337863445282, "total_ms": 392.1423051506281, "control_frequency_hz": 2.550094664272155, "prefill_share": 0.2729996749296253, "sample_share": 0.6881491211621698, "other_share": 0.013201490295456846, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.078998282551765, "prefix_embed_ms": 50.880191802978516, "prefill_forward_ms": 57.31737518310547, "prefill_ms": 108.19756698608398, "step_ms": [27.000864028930664, 27.051359176635742, 27.559295654296875, 26.385568618774414, 26.451520919799805, 26.628223419189453, 26.08255958557129, 26.283296585083008, 26.389184951782227, 27.855520248413086], "step_mean_ms": 26.768739318847658, "step_p50_ms": 26.53987216949463, "step_p95_ms": 27.72221918106079, "sample_ms": 267.68739318847656, "sample_ms_from_mean": 267.68739318847656, "output_transfer_ms": 0.07003918290138245, "total_ms": 391.02799631655216, "control_frequency_hz": 2.5573616452527905, "prefill_share": 0.27670030791988076, "sample_share": 0.6845734722579131, "other_share": 0.012771460671822674, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.94209572672844, "prefix_embed_ms": 50.093055725097656, "prefill_forward_ms": 57.264129638671875, "prefill_ms": 107.35718536376953, "step_ms": [28.368255615234375, 27.330272674560547, 27.992639541625977, 28.143871307373047, 27.898591995239258, 26.320575714111328, 26.266239166259766, 26.068735122680664, 26.135007858276367, 26.362144470214844], "step_mean_ms": 27.088633346557618, "step_p50_ms": 26.846208572387695, "step_p95_ms": 28.267282676696777, "sample_ms": 270.8863334655762, "sample_ms_from_mean": 270.8863334655762, "output_transfer_ms": 0.0713001936674118, "total_ms": 393.75664480030537, "control_frequency_hz": 2.5396396815275395, "prefill_share": 0.27264856804693666, "sample_share": 0.6879536816526787, "other_share": 0.013967332674101319, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.765487164258957, "prefix_embed_ms": 52.248382568359375, "prefill_forward_ms": 57.199615478515625, "prefill_ms": 109.447998046875, "step_ms": [26.616832733154297, 26.622880935668945, 27.1048641204834, 26.3720645904541, 28.509536743164062, 26.868000030517578, 26.640159606933594, 26.49087905883789, 26.701248168945312, 26.061567306518555], "step_mean_ms": 26.798803329467773, "step_p50_ms": 26.63152027130127, "step_p95_ms": 27.87743406295776, "sample_ms": 267.98803329467773, "sample_ms_from_mean": 267.98803329467773, "output_transfer_ms": 0.07835216820240021, "total_ms": 392.60583370923996, "control_frequency_hz": 2.547083904872871, "prefill_share": 0.27877323424575273, "sample_share": 0.6825880063034088, "other_share": 0.013565674724971673, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.12713648378849, "prefix_embed_ms": 54.310848236083984, "prefill_forward_ms": 57.35116958618164, "prefill_ms": 111.66201782226562, "step_ms": [27.10099220275879, 26.32159996032715, 26.6691837310791, 26.288543701171875, 26.495967864990234, 28.16771125793457, 26.179040908813477, 26.338144302368164, 26.813152313232422, 26.62860870361328], "step_mean_ms": 26.700294494628906, "step_p50_ms": 26.562288284301758, "step_p95_ms": 27.687687683105466, "sample_ms": 267.00294494628906, "sample_ms_from_mean": 267.00294494628906, "output_transfer_ms": 0.07202848792076111, "total_ms": 394.0775506198406, "control_frequency_hz": 2.537571598349386, "prefill_share": 0.2833503650401642, "sample_share": 0.6775390897713478, "other_share": 0.013229433829398661, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.085247457027435, "prefix_embed_ms": 51.42601776123047, "prefill_forward_ms": 57.218048095703125, "prefill_ms": 108.6440658569336, "step_ms": [26.626272201538086, 26.012191772460938, 26.090911865234375, 26.448671340942383, 26.406816482543945, 26.413728713989258, 28.470687866210938, 26.319711685180664, 26.47644805908203, 26.631872177124023], "step_mean_ms": 26.589731216430664, "step_p50_ms": 26.43120002746582, "step_p95_ms": 27.643220806121825, "sample_ms": 265.89731216430664, "sample_ms_from_mean": 265.89731216430664, "output_transfer_ms": 0.06727129220962524, "total_ms": 389.78920318186283, "control_frequency_hz": 2.565489222987618, "prefill_share": 0.2787251800975202, "sample_share": 0.6821566887789031, "other_share": 0.013071953686229307, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.219842195510864, "prefix_embed_ms": 49.80598449707031, "prefill_forward_ms": 57.23750305175781, "prefill_ms": 107.04348754882812, "step_ms": [27.114208221435547, 26.637535095214844, 26.241504669189453, 26.384511947631836, 26.982240676879883, 28.78950309753418, 26.279775619506836, 26.402624130249023, 27.854656219482422, 26.29430389404297], "step_mean_ms": 26.8980863571167, "step_p50_ms": 26.520079612731934, "step_p95_ms": 28.368822002410887, "sample_ms": 268.980863571167, "sample_ms_from_mean": 268.980863571167, "output_transfer_ms": 0.07021240890026093, "total_ms": 391.53376407921314, "control_frequency_hz": 2.554058147071283, "prefill_share": 0.2733952914650079, "sample_share": 0.6869927660102083, "other_share": 0.01333054472857913, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.872300550341606, "prefix_embed_ms": 50.112064361572266, "prefill_forward_ms": 56.91187286376953, "prefill_ms": 107.0239372253418, "step_ms": [27.080608367919922, 26.241823196411133, 29.776607513427734, 26.585344314575195, 26.52332878112793, 26.262624740600586, 26.176544189453125, 26.190975189208984, 26.043167114257812, 30.190143585205078], "step_mean_ms": 27.10711669921875, "step_p50_ms": 26.392976760864258, "step_p95_ms": 30.004052352905273, "sample_ms": 271.0711669921875, "sample_ms_from_mean": 271.0711669921875, "output_transfer_ms": 0.08349493145942688, "total_ms": 393.1328281760216, "control_frequency_hz": 2.5436695394775306, "prefill_share": 0.2722335291150573, "sample_share": 0.6895154705086544, "other_share": 0.01292674666796297, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.722810238599777, "prefix_embed_ms": 49.26387023925781, "prefill_forward_ms": 56.91801452636719, "prefill_ms": 106.181884765625, "step_ms": [26.661439895629883, 26.225631713867188, 26.392000198364258, 29.085216522216797, 26.329408645629883, 26.076480865478516, 26.37596893310547, 26.390016555786133, 26.25174331665039, 26.525632858276367], "step_mean_ms": 26.63135395050049, "step_p50_ms": 26.3829927444458, "step_p95_ms": 27.99451704025268, "sample_ms": 266.3135395050049, "sample_ms_from_mean": 266.3135395050049, "output_transfer_ms": 0.07075630128383636, "total_ms": 387.8982253372669, "control_frequency_hz": 2.5779958109644023, "prefill_share": 0.27373645412608616, "sample_share": 0.6865551892470055, "other_share": 0.014460583112687225, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.852152317762375, "prefix_embed_ms": 51.74006271362305, "prefill_forward_ms": 56.4664306640625, "prefill_ms": 108.20649337768555, "step_ms": [26.54800033569336, 25.991519927978516, 26.193376541137695, 26.11497688293457, 27.955039978027344, 26.13158416748047, 26.18262481689453, 25.948511123657227, 25.93395233154297, 26.307615280151367], "step_mean_ms": 26.330720138549804, "step_p50_ms": 26.1571044921875, "step_p95_ms": 27.32187213897705, "sample_ms": 263.30720138549805, "sample_ms_from_mean": 263.30720138549805, "output_transfer_ms": 0.06962940096855164, "total_ms": 386.39989122748375, "control_frequency_hz": 2.5879924469525117, "prefill_share": 0.28003758757266717, "sample_share": 0.6814370484138729, "other_share": 0.01284786786507284, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.868446737527847, "prefix_embed_ms": 51.61088180541992, "prefill_forward_ms": 56.44902420043945, "prefill_ms": 108.05990600585938, "step_ms": [27.549312591552734, 26.638784408569336, 26.586368560791016, 26.57263946533203, 27.824928283691406, 26.530176162719727, 26.284320831298828, 26.550016403198242, 26.885343551635742, 26.464000701904297], "step_mean_ms": 26.788589096069337, "step_p50_ms": 26.579504013061523, "step_p95_ms": 27.700901222229003, "sample_ms": 267.88589096069336, "sample_ms_from_mean": 267.88589096069336, "output_transfer_ms": 0.07279962301254272, "total_ms": 391.0938035696745, "control_frequency_hz": 2.5569313317485154, "prefill_share": 0.2763017593721814, "sample_share": 0.6849658279307632, "other_share": 0.013313328401158798, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.91603173315525, "prefix_embed_ms": 52.2308464050293, "prefill_forward_ms": 56.46847915649414, "prefill_ms": 108.69932556152344, "step_ms": [27.028127670288086, 26.46816062927246, 26.290176391601562, 28.711999893188477, 27.235200881958008, 27.4335994720459, 27.32249641418457, 26.356063842773438, 26.347007751464844, 26.75164794921875], "step_mean_ms": 26.994448089599608, "step_p50_ms": 26.889887809753418, "step_p95_ms": 28.136719703674316, "sample_ms": 269.9444808959961, "sample_ms_from_mean": 269.9444808959961, "output_transfer_ms": 0.0737365335226059, "total_ms": 393.8596732914448, "control_frequency_hz": 2.5389753453129713, "prefill_share": 0.27598490765285605, "sample_share": 0.6853823815982424, "other_share": 0.013268935414416568, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.134521871805191, "prefix_embed_ms": 51.64179229736328, "prefill_forward_ms": 56.418304443359375, "prefill_ms": 108.06009674072266, "step_ms": [26.799360275268555, 26.757951736450195, 26.611616134643555, 27.421791076660156, 26.586111068725586, 26.807903289794922, 26.46291160583496, 29.022239685058594, 26.662399291992188, 26.348480224609375], "step_mean_ms": 26.948076438903808, "step_p50_ms": 26.71017551422119, "step_p95_ms": 28.302037811279295, "sample_ms": 269.4807643890381, "sample_ms_from_mean": 269.4807643890381, "output_transfer_ms": 0.07126666605472565, "total_ms": 392.97856390476227, "control_frequency_hz": 2.5446680604246605, "prefill_share": 0.27497707678251593, "sample_share": 0.6857390940396085, "other_share": 0.013313485054135307, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.161345824599266, "prefix_embed_ms": 54.014976501464844, "prefill_forward_ms": 56.44902420043945, "prefill_ms": 110.4640007019043, "step_ms": [27.775039672851562, 27.216352462768555, 27.45292854309082, 26.999679565429688, 27.21548843383789, 29.66828727722168, 27.18886375427246, 27.007648468017578, 26.500736236572266, 26.547103881835938], "step_mean_ms": 27.357212829589844, "step_p50_ms": 27.202176094055176, "step_p95_ms": 28.816325855255126, "sample_ms": 273.57212829589844, "sample_ms_from_mean": 273.57212829589844, "output_transfer_ms": 0.08050911128520966, "total_ms": 400.2827759832144, "control_frequency_hz": 2.4982338986325368, "prefill_share": 0.27596491113206567, "sample_share": 0.6834471646298629, "other_share": 0.015001375052367918, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.502751916646957, "prefix_embed_ms": 49.91401672363281, "prefill_forward_ms": 59.21177673339844, "prefill_ms": 109.12579345703125, "step_ms": [26.821760177612305, 26.37504005432129, 26.272640228271484, 26.679840087890625, 26.40435218811035, 26.282527923583984, 28.354015350341797, 26.7412166595459, 26.317567825317383, 25.998111724853516], "step_mean_ms": 26.624707221984863, "step_p50_ms": 26.38969612121582, "step_p95_ms": 27.664500522613523, "sample_ms": 266.24707221984863, "sample_ms_from_mean": 266.24707221984863, "output_transfer_ms": 0.07807090878486633, "total_ms": 391.15220680832863, "control_frequency_hz": 2.556549554352936, "prefill_share": 0.27898549863098376, "sample_share": 0.680673833831428, "other_share": 0.013290269658543142, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.072154924273491, "prefix_embed_ms": 49.73459243774414, "prefill_forward_ms": 59.22099304199219, "prefill_ms": 108.95558547973633, "step_ms": [28.612831115722656, 26.383840560913086, 26.309600830078125, 26.42518424987793, 26.24278450012207, 26.266624450683594, 25.969728469848633, 27.679424285888672, 26.6265926361084, 26.40131187438965], "step_mean_ms": 26.691792297363282, "step_p50_ms": 26.392576217651367, "step_p95_ms": 28.192798042297362, "sample_ms": 266.9179229736328, "sample_ms_from_mean": 266.9179229736328, "output_transfer_ms": 0.072503462433815, "total_ms": 391.05917885899544, "control_frequency_hz": 2.557157724612752, "prefill_share": 0.27861661704921276, "sample_share": 0.6825512285696167, "other_share": 0.012890662824044422, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.276801884174347, "prefix_embed_ms": 49.98223876953125, "prefill_forward_ms": 59.2250862121582, "prefill_ms": 109.20732498168945, "step_ms": [29.987648010253906, 26.341215133666992, 26.113279342651367, 26.081375122070312, 26.43052864074707, 26.356800079345703, 26.4399356842041, 26.926912307739258, 26.849056243896484, 26.463424682617188], "step_mean_ms": 26.79901752471924, "step_p50_ms": 26.435232162475586, "step_p95_ms": 28.61031694412231, "sample_ms": 267.9901752471924, "sample_ms_from_mean": 267.9901752471924, "output_transfer_ms": 0.07320567965507507, "total_ms": 393.0186368525028, "control_frequency_hz": 2.544408601099731, "prefill_share": 0.2778680569865042, "sample_share": 0.6818765069091806, "other_share": 0.013920787837460345, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.120885446667671, "prefix_embed_ms": 49.65865707397461, "prefill_forward_ms": 59.262977600097656, "prefill_ms": 108.92163467407227, "step_ms": [28.808639526367188, 26.227136611938477, 26.42905616760254, 25.941728591918945, 26.26697540283203, 26.512191772460938, 26.036575317382812, 27.424480438232422, 26.09702491760254, 26.108959197998047], "step_mean_ms": 26.585276794433593, "step_p50_ms": 26.247056007385254, "step_p95_ms": 28.18576793670654, "sample_ms": 265.85276794433594, "sample_ms_from_mean": 265.85276794433594, "output_transfer_ms": 0.07282011210918427, "total_ms": 389.95647616684437, "control_frequency_hz": 2.564388748789868, "prefill_share": 0.2793174144579913, "sample_share": 0.6817498469510987, "other_share": 0.012792114747505865, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.371696203947067, "prefix_embed_ms": 49.74166488647461, "prefill_forward_ms": 59.189247131347656, "prefill_ms": 108.93091201782227, "step_ms": [29.101760864257812, 26.181119918823242, 26.17238426208496, 26.395904541015625, 26.092607498168945, 26.11187171936035, 26.026399612426758, 27.21392059326172, 26.31599998474121, 26.282623291015625], "step_mean_ms": 26.589459228515626, "step_p50_ms": 26.231871604919434, "step_p95_ms": 28.25223274230957, "sample_ms": 265.89459228515625, "sample_ms_from_mean": 265.89459228515625, "output_transfer_ms": 0.08513964712619781, "total_ms": 390.32638631761074, "control_frequency_hz": 2.561958491799974, "prefill_share": 0.2790764750635756, "sample_share": 0.6812109086286479, "other_share": 0.012922636901760957, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.320978239178658, "prefix_embed_ms": 49.68947219848633, "prefill_forward_ms": 58.99571228027344, "prefill_ms": 108.68518447875977, "step_ms": [26.91974449157715, 26.4072322845459, 27.35545539855957, 26.230688095092773, 26.42540740966797, 26.097919464111328, 26.157760620117188, 26.177183151245117, 27.125951766967773, 26.006816864013672], "step_mean_ms": 26.490415954589842, "step_p50_ms": 26.318960189819336, "step_p95_ms": 27.252178764343263, "sample_ms": 264.90415954589844, "sample_ms_from_mean": 264.90415954589844, "output_transfer_ms": 0.06777234375476837, "total_ms": 389.05308209359646, "control_frequency_hz": 2.570343343943552, "prefill_share": 0.2793582405102572, "sample_share": 0.6808946432717609, "other_share": 0.013044460305249334, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.1646538823843, "prefix_embed_ms": 49.76639938354492, "prefill_forward_ms": 57.631744384765625, "prefill_ms": 107.39814376831055, "step_ms": [26.97817611694336, 26.508928298950195, 28.411712646484375, 27.482303619384766, 27.455936431884766, 27.245792388916016, 26.86911964416504, 26.522239685058594, 29.069440841674805, 26.413055419921875], "step_mean_ms": 27.29567050933838, "step_p50_ms": 27.111984252929688, "step_p95_ms": 28.77346315383911, "sample_ms": 272.9567050933838, "sample_ms_from_mean": 272.9567050933838, "output_transfer_ms": 0.07179565727710724, "total_ms": 396.2903879582882, "control_frequency_hz": 2.523402107106508, "prefill_share": 0.27100870228428253, "sample_share": 0.6887795247814944, "other_share": 0.01438109459655204, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.157115757465363, "prefix_embed_ms": 49.26047897338867, "prefill_forward_ms": 57.576446533203125, "prefill_ms": 106.8369255065918, "step_ms": [27.101280212402344, 29.28531265258789, 26.558879852294922, 26.175743103027344, 26.310815811157227, 26.274303436279297, 26.321504592895508, 26.221376419067383, 29.16067123413086, 26.400415420532227], "step_mean_ms": 26.9810302734375, "step_p50_ms": 26.360960006713867, "step_p95_ms": 29.229224014282227, "sample_ms": 269.810302734375, "sample_ms_from_mean": 269.810302734375, "output_transfer_ms": 0.07362104952335358, "total_ms": 392.076687887311, "control_frequency_hz": 2.550521443619764, "prefill_share": 0.27248986947496967, "sample_share": 0.6881569628335636, "other_share": 0.013259454081211947, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.587897151708603, "prefix_embed_ms": 49.71440124511719, "prefill_forward_ms": 57.32556915283203, "prefill_ms": 107.03997039794922, "step_ms": [28.44380760192871, 26.62326431274414, 26.95897674560547, 26.31705665588379, 26.205087661743164, 26.401344299316406, 26.257984161376953, 27.292896270751953, 29.680543899536133, 27.280351638793945], "step_mean_ms": 27.146131324768067, "step_p50_ms": 26.791120529174805, "step_p95_ms": 29.12401256561279, "sample_ms": 271.46131324768066, "sample_ms_from_mean": 271.46131324768066, "output_transfer_ms": 0.07614865899085999, "total_ms": 394.3876661360264, "control_frequency_hz": 2.535576251147506, "prefill_share": 0.2714080068645721, "sample_share": 0.688310858976133, "other_share": 0.013241632860536326, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.821636766195297, "prefix_embed_ms": 50.50182342529297, "prefill_forward_ms": 57.243648529052734, "prefill_ms": 107.7454719543457, "step_ms": [27.04204750061035, 26.351072311401367, 29.045440673828125, 26.48703956604004, 26.268831253051758, 26.380767822265625, 26.442655563354492, 26.041471481323242, 26.392192840576172, 26.65203285217285], "step_mean_ms": 26.7103551864624, "step_p50_ms": 26.417424201965332, "step_p95_ms": 28.143913745880123, "sample_ms": 267.103551864624, "sample_ms_from_mean": 267.103551864624, "output_transfer_ms": 0.09528733789920807, "total_ms": 391.12489111721516, "control_frequency_hz": 2.5567281006933222, "prefill_share": 0.27547587586813993, "sample_share": 0.6829111568472805, "other_share": 0.0137013606545049, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.562436655163765, "prefix_embed_ms": 49.96015930175781, "prefill_forward_ms": 57.278465270996094, "prefill_ms": 107.2386245727539, "step_ms": [27.019136428833008, 26.371519088745117, 27.23961639404297, 26.614688873291016, 26.474111557006836, 26.582399368286133, 26.34329605102539, 26.591487884521484, 26.657983779907227, 27.930784225463867], "step_mean_ms": 26.782502365112304, "step_p50_ms": 26.60308837890625, "step_p95_ms": 27.61975870132446, "sample_ms": 267.82502365112305, "sample_ms_from_mean": 267.82502365112305, "output_transfer_ms": 0.07339008152484894, "total_ms": 390.79270884394646, "control_frequency_hz": 2.558901374998083, "prefill_share": 0.27441306387212316, "sample_share": 0.6853378212797528, "other_share": 0.013033083187370184, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.79854927957058, "prefix_embed_ms": 62.54652786254883, "prefill_forward_ms": 56.93337631225586, "prefill_ms": 119.47990417480469, "step_ms": [27.03036880493164, 27.06185531616211, 27.343360900878906, 27.858400344848633, 29.584672927856445, 26.567487716674805, 26.492223739624023, 26.43552017211914, 26.76982307434082, 26.339616775512695], "step_mean_ms": 27.14833297729492, "step_p50_ms": 26.90009593963623, "step_p95_ms": 28.80785026550293, "sample_ms": 271.4833297729492, "sample_ms_from_mean": 271.4833297729492, "output_transfer_ms": 0.06993487477302551, "total_ms": 406.97397850453854, "control_frequency_hz": 2.457159555199542, "prefill_share": 0.293581188197447, "sample_share": 0.6670778578289905, "other_share": 0.012635354283182208, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.215595364570618, "prefix_embed_ms": 52.5299186706543, "prefill_forward_ms": 56.95180892944336, "prefill_ms": 109.48172760009766, "step_ms": [29.548864364624023, 26.617311477661133, 26.634815216064453, 27.402591705322266, 27.41916847229004, 26.62678337097168, 26.840927124023438, 27.697376251220703, 27.068063735961914, 26.549663543701172], "step_mean_ms": 27.240556526184083, "step_p50_ms": 26.954495429992676, "step_p95_ms": 28.715694713592526, "sample_ms": 272.4055652618408, "sample_ms_from_mean": 272.4055652618408, "output_transfer_ms": 0.07005594670772552, "total_ms": 397.40829914808273, "control_frequency_hz": 2.5163037665385515, "prefill_share": 0.2754892835272734, "sample_share": 0.6854551498944332, "other_share": 0.013173743442421441, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.014723986387253, "prefix_embed_ms": 49.93315124511719, "prefill_forward_ms": 56.981502532958984, "prefill_ms": 106.91465377807617, "step_ms": [26.80521583557129, 26.362943649291992, 26.3569278717041, 26.26585578918457, 26.261632919311523, 26.347135543823242, 26.08310317993164, 27.492223739624023, 27.200096130371094, 26.408063888549805], "step_mean_ms": 26.55831985473633, "step_p50_ms": 26.359935760498047, "step_p95_ms": 27.360766315460204, "sample_ms": 265.5831985473633, "sample_ms_from_mean": 265.5831985473633, "output_transfer_ms": 0.08472427725791931, "total_ms": 387.76333071291447, "control_frequency_hz": 2.5788926409350523, "prefill_share": 0.2757214138363996, "sample_share": 0.684910556289788, "other_share": 0.013322637069193575, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.385135188698769, "prefix_embed_ms": 50.84675216674805, "prefill_forward_ms": 57.025535583496094, "prefill_ms": 107.87228775024414, "step_ms": [28.126367568969727, 26.60585594177246, 26.584768295288086, 26.26460838317871, 26.333728790283203, 26.076480865478516, 26.270751953125, 26.234912872314453, 26.419584274291992, 26.572479248046875], "step_mean_ms": 26.548953819274903, "step_p50_ms": 26.376656532287598, "step_p95_ms": 27.442137336730955, "sample_ms": 265.489538192749, "sample_ms_from_mean": 265.489538192749, "output_transfer_ms": 0.07160566747188568, "total_ms": 388.83603923022747, "control_frequency_hz": 2.5717780738114815, "prefill_share": 0.2774235844079607, "sample_share": 0.6827801731504478, "other_share": 0.01290382558416309, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.246066376566887, "prefix_embed_ms": 50.34233474731445, "prefill_forward_ms": 59.29267120361328, "prefill_ms": 109.63500595092773, "step_ms": [26.882047653198242, 26.695743560791016, 26.471263885498047, 26.730016708374023, 27.154111862182617, 26.886240005493164, 26.358400344848633, 26.31065559387207, 26.3351993560791, 26.123680114746094], "step_mean_ms": 26.5947359085083, "step_p50_ms": 26.58350372314453, "step_p95_ms": 27.033569526672363, "sample_ms": 265.947359085083, "sample_ms_from_mean": 265.947359085083, "output_transfer_ms": 0.06750039756298065, "total_ms": 391.0007756203413, "control_frequency_hz": 2.55753968368337, "prefill_share": 0.2803958784403601, "sample_share": 0.6801709246308908, "other_share": 0.013055840623593684, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.94979403913021, "prefix_embed_ms": 51.164833068847656, "prefill_forward_ms": 57.48121643066406, "prefill_ms": 108.64604949951172, "step_ms": [26.716672897338867, 26.416608810424805, 26.719135284423828, 26.635040283203125, 26.505504608154297, 26.46816062927246, 26.34172821044922, 28.35536003112793, 27.44723129272461, 27.089920043945312], "step_mean_ms": 26.869536209106446, "step_p50_ms": 26.675856590270996, "step_p95_ms": 27.946702098846433, "sample_ms": 268.69536209106445, "sample_ms_from_mean": 268.69536209106445, "output_transfer_ms": 0.0745188444852829, "total_ms": 392.6360197365284, "control_frequency_hz": 2.5468880839588603, "prefill_share": 0.2767093288395109, "sample_share": 0.6843370159247433, "other_share": 0.013422852202590254, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.251950472593307, "prefix_embed_ms": 51.595455169677734, "prefill_forward_ms": 57.53958511352539, "prefill_ms": 109.13504028320312, "step_ms": [28.208223342895508, 27.130207061767578, 27.56073570251465, 27.53443145751953, 27.589088439941406, 26.86511993408203, 26.674400329589844, 26.942943572998047, 28.123743057250977, 27.498111724853516], "step_mean_ms": 27.41270046234131, "step_p50_ms": 27.516271591186523, "step_p95_ms": 28.170207214355468, "sample_ms": 274.1270046234131, "sample_ms_from_mean": 274.1270046234131, "output_transfer_ms": 0.07066316902637482, "total_ms": 398.7164795398712, "control_frequency_hz": 2.5080478267515427, "prefill_share": 0.27371590060472967, "sample_share": 0.6875236381996613, "other_share": 0.012870852485348918, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.325748473405838, "prefix_embed_ms": 51.78656005859375, "prefill_forward_ms": 56.98457717895508, "prefill_ms": 108.77113723754883, "step_ms": [28.07596778869629, 27.435232162475586, 27.24950408935547, 29.212799072265625, 27.644256591796875, 26.79532814025879, 29.01260757446289, 27.914464950561523, 27.97475242614746, 27.127552032470703], "step_mean_ms": 27.844246482849123, "step_p50_ms": 27.7793607711792, "step_p95_ms": 29.122712898254395, "sample_ms": 278.4424648284912, "sample_ms_from_mean": 278.4424648284912, "output_transfer_ms": 0.07170811295509338, "total_ms": 403.714781627059, "control_frequency_hz": 2.476996249604191, "prefill_share": 0.2694256990025912, "sample_share": 0.6897009411107196, "other_share": 0.015118898916850832, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.010294780135155, "prefix_embed_ms": 53.840030670166016, "prefill_forward_ms": 56.77056121826172, "prefill_ms": 110.61059188842773, "step_ms": [28.0664005279541, 27.82854461669922, 27.680063247680664, 27.29759979248047, 29.68000030517578, 27.54457664489746, 26.628671646118164, 26.41481590270996, 26.411455154418945, 26.256128311157227], "step_mean_ms": 27.3808256149292, "step_p50_ms": 27.421088218688965, "step_p95_ms": 28.953880405426023, "sample_ms": 273.808256149292, "sample_ms_from_mean": 273.808256149292, "output_transfer_ms": 0.08953548967838287, "total_ms": 400.988083332777, "control_frequency_hz": 2.4938396964034153, "prefill_share": 0.2758450848940387, "sample_share": 0.6828338983880988, "other_share": 0.01363981936766121, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.151144117116928, "prefix_embed_ms": 52.9167366027832, "prefill_forward_ms": 56.652801513671875, "prefill_ms": 109.56953811645508, "step_ms": [26.799039840698242, 26.62166404724121, 27.04489517211914, 26.223295211791992, 28.374271392822266, 27.051904678344727, 26.367136001586914, 26.324064254760742, 26.774911880493164, 26.470848083496094], "step_mean_ms": 26.80520305633545, "step_p50_ms": 26.698287963867188, "step_p95_ms": 27.77920637130737, "sample_ms": 268.0520305633545, "sample_ms_from_mean": 268.0520305633545, "output_transfer_ms": 0.07184408605098724, "total_ms": 392.8967509418726, "control_frequency_hz": 2.545197937124061, "prefill_share": 0.2788761623856376, "sample_share": 0.6822454752317655, "other_share": 0.012858833896650271, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.200394317507744, "prefix_embed_ms": 52.25360107421875, "prefill_forward_ms": 56.72243118286133, "prefill_ms": 108.97603225708008, "step_ms": [26.667903900146484, 26.807968139648438, 27.290719985961914, 26.914592742919922, 27.455904006958008, 29.02569580078125, 27.359359741210938, 27.238847732543945, 27.121471405029297, 27.25971221923828], "step_mean_ms": 27.314217567443848, "step_p50_ms": 27.249279975891113, "step_p95_ms": 28.319289493560788, "sample_ms": 273.1421756744385, "sample_ms_from_mean": 273.1421756744385, "output_transfer_ms": 0.0715162605047226, "total_ms": 397.5453060120344, "control_frequency_hz": 2.5154365675486763, "prefill_share": 0.2741222965258233, "sample_share": 0.687071816831287, "other_share": 0.012967547156366973, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.300826281309128, "prefix_embed_ms": 49.81340789794922, "prefill_forward_ms": 56.43571090698242, "prefill_ms": 106.24911880493164, "step_ms": [26.436927795410156, 26.31875228881836, 26.694528579711914, 26.155296325683594, 26.383039474487305, 26.435487747192383, 26.419967651367188, 27.476255416870117, 26.530559539794922, 26.617727279663086], "step_mean_ms": 26.5468542098999, "step_p50_ms": 26.43620777130127, "step_p95_ms": 27.124478340148926, "sample_ms": 265.468542098999, "sample_ms_from_mean": 265.468542098999, "output_transfer_ms": 0.09077787399291992, "total_ms": 387.07900419831276, "control_frequency_hz": 2.5834519288152054, "prefill_share": 0.27448949091151653, "sample_share": 0.6858252171254196, "other_share": 0.012839082164564766, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.704947635531425, "prefix_embed_ms": 50.782527923583984, "prefill_forward_ms": 55.8469123840332, "prefill_ms": 106.62944030761719, "step_ms": [28.524192810058594, 26.777599334716797, 26.234207153320312, 27.545663833618164, 26.299808502197266, 26.325151443481445, 26.274208068847656, 28.845279693603516, 28.203359603881836, 28.823392868041992], "step_mean_ms": 27.385286331176758, "step_p50_ms": 27.16163158416748, "step_p95_ms": 28.83543062210083, "sample_ms": 273.8528633117676, "sample_ms_from_mean": 273.8528633117676, "output_transfer_ms": 0.07896311581134796, "total_ms": 397.6102564483881, "control_frequency_hz": 2.515025665918166, "prefill_share": 0.26817577911614626, "sample_share": 0.6887469799142747, "other_share": 0.015955428650981117, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.092506512999535, "prefix_embed_ms": 51.71318435668945, "prefill_forward_ms": 55.88070297241211, "prefill_ms": 107.59388732910156, "step_ms": [26.96076774597168, 27.67145538330078, 26.985855102539062, 26.4467830657959, 26.590303421020508, 26.79315185546875, 26.831775665283203, 26.427167892456055, 28.20639991760254, 26.898496627807617], "step_mean_ms": 26.98121566772461, "step_p50_ms": 26.86513614654541, "step_p95_ms": 27.965674877166748, "sample_ms": 269.8121566772461, "sample_ms_from_mean": 269.8121566772461, "output_transfer_ms": 0.07080100476741791, "total_ms": 394.8654644191265, "control_frequency_hz": 2.532508132791676, "prefill_share": 0.27248239469962093, "sample_share": 0.6833014811111876, "other_share": 0.013412448978800508, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.246425867080688, "prefix_embed_ms": 50.21955108642578, "prefill_forward_ms": 55.825408935546875, "prefill_ms": 106.04496002197266, "step_ms": [26.874303817749023, 26.24982452392578, 26.854816436767578, 26.53388786315918, 27.10985565185547, 26.524608612060547, 27.628416061401367, 27.068544387817383, 26.68511962890625, 26.17487907409668], "step_mean_ms": 26.770425605773926, "step_p50_ms": 26.769968032836914, "step_p95_ms": 27.395063877105713, "sample_ms": 267.70425605773926, "sample_ms_from_mean": 267.70425605773926, "output_transfer_ms": 0.07349997758865356, "total_ms": 389.26673866808414, "control_frequency_hz": 2.5689325613115623, "prefill_share": 0.27242235076342847, "sample_share": 0.6877141801884145, "other_share": 0.013352275515465297, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.220225900411606, "prefix_embed_ms": 50.55539321899414, "prefill_forward_ms": 55.88684844970703, "prefill_ms": 106.44224166870117, "step_ms": [26.97929573059082, 26.683168411254883, 26.312320709228516, 26.724544525146484, 26.541568756103516, 26.388736724853516, 29.16796875, 26.789152145385742, 26.43280029296875, 26.520383834838867], "step_mean_ms": 26.85399398803711, "step_p50_ms": 26.6123685836792, "step_p95_ms": 28.183065891265866, "sample_ms": 268.5399398803711, "sample_ms_from_mean": 268.5399398803711, "output_transfer_ms": 0.08120201528072357, "total_ms": 390.6410913914442, "control_frequency_hz": 2.5598945478010253, "prefill_share": 0.27248091410342723, "sample_share": 0.687433927966577, "other_share": 0.013714588774049668, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.38007065653801, "prefix_embed_ms": 49.9442253112793, "prefill_forward_ms": 59.25785446166992, "prefill_ms": 109.20207977294922, "step_ms": [27.16441535949707, 27.075904846191406, 26.94316864013672, 26.29439926147461, 26.476383209228516, 26.633472442626953, 26.4583683013916, 27.652511596679688, 26.388736724853516, 26.4333438873291], "step_mean_ms": 26.752070426940918, "step_p50_ms": 26.554927825927734, "step_p95_ms": 27.43286828994751, "sample_ms": 267.5207042694092, "sample_ms_from_mean": 267.5207042694092, "output_transfer_ms": 0.08331611752510071, "total_ms": 392.4691788852215, "control_frequency_hz": 2.5479707803818457, "prefill_share": 0.278243708418402, "sample_share": 0.6816349376256274, "other_share": 0.013460950191823855, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.36079041659832, "prefix_embed_ms": 50.068416595458984, "prefill_forward_ms": 59.219966888427734, "prefill_ms": 109.28838348388672, "step_ms": [29.481632232666016, 27.413087844848633, 26.860639572143555, 26.3438720703125, 26.38025665283203, 26.060928344726562, 26.924352645874023, 27.938079833984375, 26.785120010375977, 27.12303924560547], "step_mean_ms": 27.131100845336913, "step_p50_ms": 26.89249610900879, "step_p95_ms": 28.787033653259275, "sample_ms": 271.31100845336914, "sample_ms_from_mean": 271.31100845336914, "output_transfer_ms": 0.07949955761432648, "total_ms": 396.48000709712505, "control_frequency_hz": 2.5221952736573465, "prefill_share": 0.27564664428871066, "sample_share": 0.684299343212296, "other_share": 0.01372156247042197, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.795647278428078, "prefix_embed_ms": 51.63087844848633, "prefill_forward_ms": 59.472896575927734, "prefill_ms": 111.10377502441406, "step_ms": [27.22217559814453, 27.221759796142578, 26.866783142089844, 26.454496383666992, 26.429216384887695, 25.99545669555664, 26.30019187927246, 26.218015670776367, 26.025535583496094, 28.040672302246094], "step_mean_ms": 26.67743034362793, "step_p50_ms": 26.441856384277344, "step_p95_ms": 27.67234878540039, "sample_ms": 266.7743034362793, "sample_ms_from_mean": 266.7743034362793, "output_transfer_ms": 0.06768293678760529, "total_ms": 393.9452413469553, "control_frequency_hz": 2.5384238595720983, "prefill_share": 0.28202847341050324, "sample_share": 0.6771862569633782, "other_share": 0.01320953301340462, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.646769940853119, "prefix_embed_ms": 52.243553161621094, "prefill_forward_ms": 59.32032012939453, "prefill_ms": 111.56387329101562, "step_ms": [27.61075210571289, 26.49180793762207, 26.73529624938965, 28.746335983276367, 26.89833641052246, 26.527616500854492, 26.64441680908203, 26.503904342651367, 26.7708797454834, 27.259008407592773], "step_mean_ms": 27.01883544921875, "step_p50_ms": 26.753087997436523, "step_p95_ms": 28.2353232383728, "sample_ms": 270.1883544921875, "sample_ms_from_mean": 270.1883544921875, "output_transfer_ms": 0.07238797843456268, "total_ms": 398.76730367541313, "control_frequency_hz": 2.5077281682401313, "prefill_share": 0.27977186760985273, "sample_share": 0.6775589472905087, "other_share": 0.013280722677386492, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.197876185178757, "prefix_embed_ms": 53.280128479003906, "prefill_forward_ms": 59.28857421875, "prefill_ms": 112.5687026977539, "step_ms": [28.22211265563965, 27.709184646606445, 27.109920501708984, 27.039264678955078, 27.136703491210938, 29.18320083618164, 27.492767333984375, 27.71820831298828, 28.365983963012695, 27.827775955200195], "step_mean_ms": 27.780512237548827, "step_p50_ms": 27.713696479797363, "step_p95_ms": 28.815453243255615, "sample_ms": 277.8051223754883, "sample_ms_from_mean": 277.8051223754883, "output_transfer_ms": 0.07353164255619049, "total_ms": 407.1144163608551, "control_frequency_hz": 2.456311935447718, "prefill_share": 0.2765038479943586, "sample_share": 0.6823760378194257, "other_share": 0.013434020609651497, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.86147890985012, "prefix_embed_ms": 51.50751876831055, "prefill_forward_ms": 59.33875274658203, "prefill_ms": 110.84627151489258, "step_ms": [27.632896423339844, 26.831968307495117, 27.127199172973633, 26.505535125732422, 26.410207748413086, 26.638912200927734, 27.435136795043945, 27.514047622680664, 27.019872665405273, 27.034624099731445], "step_mean_ms": 27.015040016174318, "step_p50_ms": 27.02724838256836, "step_p95_ms": 27.579414463043214, "sample_ms": 270.15040016174316, "sample_ms_from_mean": 270.15040016174316, "output_transfer_ms": 0.07247179746627808, "total_ms": 398.32879789173603, "control_frequency_hz": 2.5104888355870156, "prefill_share": 0.27827832710458483, "sample_share": 0.6782095635354208, "other_share": 0.013552059344830723, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.350905522704124, "prefix_embed_ms": 51.11756896972656, "prefill_forward_ms": 59.28345489501953, "prefill_ms": 110.4010238647461, "step_ms": [27.447935104370117, 27.004928588867188, 26.69366455078125, 26.830303192138672, 26.86070442199707, 26.83238410949707, 27.537824630737305, 29.58732795715332, 27.156383514404297, 27.59075164794922], "step_mean_ms": 27.35422077178955, "step_p50_ms": 27.080656051635742, "step_p95_ms": 28.688868618011472, "sample_ms": 273.5422077178955, "sample_ms_from_mean": 273.5422077178955, "output_transfer_ms": 0.07782690227031708, "total_ms": 400.91859735548496, "control_frequency_hz": 2.494271921023718, "prefill_share": 0.2753701738781056, "sample_share": 0.6822886479255842, "other_share": 0.013834811815803226, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.609187349677086, "prefix_embed_ms": 51.17420959472656, "prefill_forward_ms": 59.49951934814453, "prefill_ms": 110.6737289428711, "step_ms": [30.5710391998291, 27.147775650024414, 27.20140838623047, 26.569311141967773, 27.04956817626953, 26.95929527282715, 27.30099105834961, 26.521312713623047, 29.367328643798828, 26.648895263671875], "step_mean_ms": 27.53369255065918, "step_p50_ms": 27.098671913146973, "step_p95_ms": 30.029369449615476, "sample_ms": 275.3369255065918, "sample_ms_from_mean": 275.3369255065918, "output_transfer_ms": 0.07813982665538788, "total_ms": 402.94901467859745, "control_frequency_hz": 2.481703549511409, "prefill_share": 0.27465938595518674, "sample_share": 0.6833046253412671, "other_share": 0.013031507365740665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.06809638440609, "prefix_embed_ms": 50.465152740478516, "prefill_forward_ms": 59.38995361328125, "prefill_ms": 109.85510635375977, "step_ms": [26.930400848388672, 28.55084800720215, 26.520959854125977, 26.361568450927734, 26.681215286254883, 26.512928009033203, 26.44879913330078, 26.398527145385742, 28.869728088378906, 27.150272369384766], "step_mean_ms": 27.04252471923828, "step_p50_ms": 26.60108757019043, "step_p95_ms": 28.726232051849365, "sample_ms": 270.4252471923828, "sample_ms_from_mean": 270.4252471923828, "output_transfer_ms": 0.08597224950790405, "total_ms": 396.64722979068756, "control_frequency_hz": 2.521131940156759, "prefill_share": 0.27695921741778146, "sample_share": 0.6817777281215033, "other_share": 0.013142175765054026, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.36523112654686, "prefix_embed_ms": 49.95280075073242, "prefill_forward_ms": 59.35718536376953, "prefill_ms": 109.30998611450195, "step_ms": [26.710111618041992, 26.69481658935547, 28.111072540283203, 26.185632705688477, 26.370527267456055, 26.11782455444336, 26.31110382080078, 26.23868751525879, 26.234432220458984, 26.04889678955078], "step_mean_ms": 26.50231056213379, "step_p50_ms": 26.274895668029785, "step_p95_ms": 27.480640125274657, "sample_ms": 265.0231056213379, "sample_ms_from_mean": 265.0231056213379, "output_transfer_ms": 0.10579079389572144, "total_ms": 391.49696938693523, "control_frequency_hz": 2.554298189245118, "prefill_share": 0.2792102995986813, "sample_share": 0.676948038796701, "other_share": 0.014541251084440163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.210294604301453, "prefix_embed_ms": 50.02268981933594, "prefill_forward_ms": 59.266048431396484, "prefill_ms": 109.28873825073242, "step_ms": [29.081632614135742, 27.042207717895508, 27.00409507751465, 26.094432830810547, 26.275392532348633, 26.275968551635742, 26.72492790222168, 26.90025520324707, 26.2806396484375, 26.141887664794922], "step_mean_ms": 26.782143974304198, "step_p50_ms": 26.50278377532959, "step_p95_ms": 28.163891410827635, "sample_ms": 267.821439743042, "sample_ms_from_mean": 267.821439743042, "output_transfer_ms": 0.07466413080692291, "total_ms": 395.2046278864145, "control_frequency_hz": 2.530334741645306, "prefill_share": 0.2765370912664085, "sample_share": 0.6776778935392841, "other_share": 0.01469995730718376, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.86457259953022, "prefix_embed_ms": 49.30384063720703, "prefill_forward_ms": 59.262977600097656, "prefill_ms": 108.56681823730469, "step_ms": [26.77631950378418, 26.28838348388672, 26.19980812072754, 26.353567123413086, 26.467967987060547, 26.133888244628906, 26.007295608520508, 26.168607711791992, 26.15007972717285, 26.15167999267578], "step_mean_ms": 26.269759750366212, "step_p50_ms": 26.184207916259766, "step_p95_ms": 26.637561321258545, "sample_ms": 262.6975975036621, "sample_ms_from_mean": 262.6975975036621, "output_transfer_ms": 0.07501989603042603, "total_ms": 387.25341856479645, "control_frequency_hz": 2.5822883725755332, "prefill_share": 0.28035083238171327, "sample_share": 0.6783609515372341, "other_share": 0.013039033579051857, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.785980150103569, "prefix_embed_ms": 49.133056640625, "prefill_forward_ms": 59.18310546875, "prefill_ms": 108.316162109375, "step_ms": [26.63987159729004, 26.190048217773438, 26.146080017089844, 26.0743350982666, 26.422271728515625, 26.41107177734375, 26.251455307006836, 26.68137550354004, 26.45427131652832, 26.08880043029785], "step_mean_ms": 26.335958099365236, "step_p50_ms": 26.331263542175293, "step_p95_ms": 26.66269874572754, "sample_ms": 263.35958099365234, "sample_ms_from_mean": 263.35958099365234, "output_transfer_ms": 0.08854828774929047, "total_ms": 387.54655607044697, "control_frequency_hz": 2.5803351477034497, "prefill_share": 0.27949200015516495, "sample_share": 0.6795559833223745, "other_share": 0.012892088579568119, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.736418887972832, "prefix_embed_ms": 48.55779266357422, "prefill_forward_ms": 59.10220718383789, "prefill_ms": 107.65999984741211, "step_ms": [26.88604736328125, 26.262847900390625, 26.116031646728516, 26.135391235351562, 26.247039794921875, 26.048479080200195, 25.918272018432617, 26.49113655090332, 26.35798454284668, 26.25881576538086], "step_mean_ms": 26.27220458984375, "step_p50_ms": 26.252927780151367, "step_p95_ms": 26.70833749771118, "sample_ms": 262.7220458984375, "sample_ms_from_mean": 262.7220458984375, "output_transfer_ms": 0.07379241287708282, "total_ms": 386.1493207514286, "control_frequency_hz": 2.589671783065801, "prefill_share": 0.27880406376971156, "sample_share": 0.6803638690525018, "other_share": 0.012837168002996523, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.832332074642181, "prefix_embed_ms": 50.026878356933594, "prefill_forward_ms": 59.19948959350586, "prefill_ms": 109.22636795043945, "step_ms": [26.677471160888672, 26.13385581970215, 26.303647994995117, 26.06083106994629, 26.201215744018555, 26.415071487426758, 26.17145538330078, 26.786592483520508, 26.775615692138672, 26.90928077697754], "step_mean_ms": 26.443503761291502, "step_p50_ms": 26.359359741210938, "step_p95_ms": 26.854071044921874, "sample_ms": 264.43503761291504, "sample_ms_from_mean": 264.43503761291504, "output_transfer_ms": 0.09994395077228546, "total_ms": 389.65748623013496, "control_frequency_hz": 2.5663564421020557, "prefill_share": 0.2803137930370198, "sample_share": 0.678634562295404, "other_share": 0.012995527662915937, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.509187519550323, "prefix_embed_ms": 50.530208587646484, "prefill_forward_ms": 57.53548812866211, "prefill_ms": 108.0656967163086, "step_ms": [26.755807876586914, 26.13260841369629, 26.199071884155273, 26.319263458251953, 25.983999252319336, 26.133472442626953, 26.10860824584961, 26.342239379882812, 26.22313690185547, 26.363840103149414], "step_mean_ms": 26.2562047958374, "step_p50_ms": 26.21110439300537, "step_p95_ms": 26.579422378540038, "sample_ms": 262.562047958374, "sample_ms_from_mean": 262.562047958374, "output_transfer_ms": 0.07134303450584412, "total_ms": 387.87907361984253, "control_frequency_hz": 2.5781231007581833, "prefill_share": 0.2786066691038429, "sample_share": 0.676917281223862, "other_share": 0.014620016331846902, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.23642735183239, "prefix_embed_ms": 49.39686584472656, "prefill_forward_ms": 57.486305236816406, "prefill_ms": 106.88317108154297, "step_ms": [26.411359786987305, 26.15990447998047, 28.10963249206543, 26.62892723083496, 26.473535537719727, 26.275903701782227, 26.286592483520508, 27.241600036621094, 26.427167892456055, 26.54627227783203], "step_mean_ms": 26.65608959197998, "step_p50_ms": 26.45035171508789, "step_p95_ms": 27.719017887115477, "sample_ms": 266.5608959197998, "sample_ms_from_mean": 266.5608959197998, "output_transfer_ms": 0.06792135536670685, "total_ms": 389.7775858640671, "control_frequency_hz": 2.56556568737317, "prefill_share": 0.2742157962844429, "sample_share": 0.6838794881672892, "other_share": 0.012902666386976661, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.992471128702164, "prefix_embed_ms": 49.89807891845703, "prefill_forward_ms": 56.94668960571289, "prefill_ms": 106.84476852416992, "step_ms": [27.23967933654785, 27.15283203125, 26.33353614807129, 27.0380802154541, 27.783615112304688, 26.21468734741211, 26.076704025268555, 26.30348777770996, 26.47020721435547, 26.24220848083496], "step_mean_ms": 26.6855037689209, "step_p50_ms": 26.40187168121338, "step_p95_ms": 27.53884401321411, "sample_ms": 266.855037689209, "sample_ms_from_mean": 266.855037689209, "output_transfer_ms": 0.06972812116146088, "total_ms": 389.7855803370476, "control_frequency_hz": 2.5655130678135913, "prefill_share": 0.27411164987627623, "sample_share": 0.6846200864035541, "other_share": 0.012888046985886858, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.19493879377842, "prefix_embed_ms": 49.63932800292969, "prefill_forward_ms": 56.97945785522461, "prefill_ms": 106.6187858581543, "step_ms": [27.100223541259766, 26.1876163482666, 26.03548812866211, 26.099424362182617, 26.211103439331055, 25.993183135986328, 25.890560150146484, 26.018592834472656, 26.09017562866211, 25.878400802612305], "step_mean_ms": 26.1504768371582, "step_p50_ms": 26.06283187866211, "step_p95_ms": 26.700119495391846, "sample_ms": 261.50476837158203, "sample_ms_from_mean": 261.50476837158203, "output_transfer_ms": 0.07354654371738434, "total_ms": 384.34477895498276, "control_frequency_hz": 2.601830582215681, "prefill_share": 0.2774040176844506, "sample_share": 0.68039110374441, "other_share": 0.012886188804793745, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.216806247830391, "prefix_embed_ms": 49.60115051269531, "prefill_forward_ms": 56.93952178955078, "prefill_ms": 106.5406723022461, "step_ms": [26.648223876953125, 26.406879425048828, 26.274879455566406, 26.350751876831055, 26.08684730529785, 26.28691291809082, 26.818368911743164, 26.058368682861328, 26.192703247070312, 26.450176239013672], "step_mean_ms": 26.357411193847657, "step_p50_ms": 26.318832397460938, "step_p95_ms": 26.741803646087646, "sample_ms": 263.57411193847656, "sample_ms_from_mean": 263.57411193847656, "output_transfer_ms": 0.09324401617050171, "total_ms": 386.6071756929159, "control_frequency_hz": 2.586604861142839, "prefill_share": 0.275578620886416, "sample_share": 0.6817620792114704, "other_share": 0.013404668909479134, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.332714930176735, "prefix_embed_ms": 49.68931198120117, "prefill_forward_ms": 57.02143859863281, "prefill_ms": 106.71075057983398, "step_ms": [27.765344619750977, 26.344959259033203, 26.203359603881836, 26.2108154296875, 26.402048110961914, 26.066015243530273, 26.218496322631836, 26.8176326751709, 26.187456130981445, 26.085216522216797], "step_mean_ms": 26.43013439178467, "step_p50_ms": 26.214655876159668, "step_p95_ms": 27.33887424468994, "sample_ms": 264.3013439178467, "sample_ms_from_mean": 264.3013439178467, "output_transfer_ms": 0.06990879774093628, "total_ms": 387.4106965959072, "control_frequency_hz": 2.5812400348952176, "prefill_share": 0.27544606155038553, "sample_share": 0.6822252101973554, "other_share": 0.012895819382911835, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.084100231528282, "prefix_embed_ms": 49.791072845458984, "prefill_forward_ms": 56.09574508666992, "prefill_ms": 105.8868179321289, "step_ms": [26.818880081176758, 26.198591232299805, 26.308799743652344, 26.050207138061523, 26.353439331054688, 26.314559936523438, 26.161727905273438, 26.782527923583984, 26.594112396240234, 26.350112915039062], "step_mean_ms": 26.39329586029053, "step_p50_ms": 26.33233642578125, "step_p95_ms": 26.80252161026001, "sample_ms": 263.9329586029053, "sample_ms_from_mean": 263.9329586029053, "output_transfer_ms": 0.06991811096668243, "total_ms": 386.03489845991135, "control_frequency_hz": 2.590439372164295, "prefill_share": 0.274293382164579, "sample_share": 0.6837023275767747, "other_share": 0.013110481986404614, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.848725214600563, "prefix_embed_ms": 49.76051330566406, "prefill_forward_ms": 56.2503662109375, "prefill_ms": 106.01087951660156, "step_ms": [26.729503631591797, 26.181087493896484, 26.048351287841797, 26.06982421875, 26.316511154174805, 28.668352127075195, 26.187776565551758, 26.228927612304688, 26.41881561279297, 26.57980728149414], "step_mean_ms": 26.542895698547362, "step_p50_ms": 26.272719383239746, "step_p95_ms": 27.795870304107662, "sample_ms": 265.42895698547363, "sample_ms_from_mean": 265.42895698547363, "output_transfer_ms": 0.07050856947898865, "total_ms": 387.36746460199356, "control_frequency_hz": 2.5815281131766312, "prefill_share": 0.2736700657746876, "sample_share": 0.685212314509151, "other_share": 0.012929310728211938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.180970817804337, "prefix_embed_ms": 49.82124710083008, "prefill_forward_ms": 56.13158416748047, "prefill_ms": 105.95283126831055, "step_ms": [27.052255630493164, 26.422752380371094, 26.20319938659668, 26.11180877685547, 26.845600128173828, 26.448575973510742, 26.527231216430664, 26.31145668029785, 26.158815383911133, 26.5281925201416], "step_mean_ms": 26.460988807678223, "step_p50_ms": 26.435664176940918, "step_p95_ms": 26.959260654449462, "sample_ms": 264.6098880767822, "sample_ms_from_mean": 264.6098880767822, "output_transfer_ms": 0.07098168134689331, "total_ms": 386.8570700287819, "control_frequency_hz": 2.584934016911209, "prefill_share": 0.2738810777335095, "sample_share": 0.6839991009007421, "other_share": 0.013034266594023309, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.865220800042152, "prefix_embed_ms": 49.63359832763672, "prefill_forward_ms": 56.19404983520508, "prefill_ms": 105.8276481628418, "step_ms": [26.816736221313477, 26.42838478088379, 26.5328311920166, 26.21980857849121, 26.239328384399414, 26.421344757080078, 26.524192810058594, 26.145183563232422, 25.97439956665039, 26.234304428100586], "step_mean_ms": 26.353651428222655, "step_p50_ms": 26.330336570739746, "step_p95_ms": 26.688978958129884, "sample_ms": 263.53651428222656, "sample_ms_from_mean": 263.53651428222656, "output_transfer_ms": 0.08388794958591461, "total_ms": 385.4504656046629, "control_frequency_hz": 2.594367082761938, "prefill_share": 0.27455576683978866, "sample_share": 0.6837104577596299, "other_share": 0.013327768074965643, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.856684297323227, "prefix_embed_ms": 49.185054779052734, "prefill_forward_ms": 58.015743255615234, "prefill_ms": 107.20079803466797, "step_ms": [26.640640258789062, 26.12895965576172, 26.493087768554688, 26.180448532104492, 26.841888427734375, 26.864608764648438, 26.09062385559082, 26.422719955444336, 25.962783813476562, 26.255615234375], "step_mean_ms": 26.38813762664795, "step_p50_ms": 26.339167594909668, "step_p95_ms": 26.85438461303711, "sample_ms": 263.8813762664795, "sample_ms_from_mean": 263.8813762664795, "output_transfer_ms": 0.07302500307559967, "total_ms": 387.0959151536226, "control_frequency_hz": 2.583339066244449, "prefill_share": 0.2769360094955389, "sample_share": 0.6816950681635473, "other_share": 0.01313377732249821, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.212656274437904, "prefix_embed_ms": 50.50592041015625, "prefill_forward_ms": 59.23020935058594, "prefill_ms": 109.73612976074219, "step_ms": [26.74051284790039, 26.016128540039062, 26.49718475341797, 26.226560592651367, 26.272319793701172, 26.220224380493164, 26.06025505065918, 26.519264221191406, 26.45088005065918, 26.265888214111328], "step_mean_ms": 26.32692184448242, "step_p50_ms": 26.26910400390625, "step_p95_ms": 26.64095096588135, "sample_ms": 263.2692184448242, "sample_ms_from_mean": 263.2692184448242, "output_transfer_ms": 0.07267482578754425, "total_ms": 389.28938657045364, "control_frequency_hz": 2.568783107111552, "prefill_share": 0.28188831636919576, "sample_share": 0.6762815209635255, "other_share": 0.012840594778858997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.914595797657967, "prefix_embed_ms": 50.19174575805664, "prefill_forward_ms": 59.29471969604492, "prefill_ms": 109.48646545410156, "step_ms": [26.596576690673828, 26.47203254699707, 26.41142463684082, 26.232608795166016, 25.91663932800293, 26.723039627075195, 27.128320693969727, 26.621055603027344, 27.26585578918457, 26.655487060546875], "step_mean_ms": 26.60230407714844, "step_p50_ms": 26.608816146850586, "step_p95_ms": 27.20396499633789, "sample_ms": 266.0230407714844, "sample_ms_from_mean": 266.0230407714844, "output_transfer_ms": 0.07962249219417572, "total_ms": 391.6824720799923, "control_frequency_hz": 2.5530884613998572, "prefill_share": 0.27952863163032077, "sample_share": 0.6791803558601804, "other_share": 0.013221800651565977, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.243782937526703, "prefix_embed_ms": 49.77619171142578, "prefill_forward_ms": 59.22099304199219, "prefill_ms": 108.99718475341797, "step_ms": [27.08038330078125, 26.30099105834961, 26.55913543701172, 26.325183868408203, 26.267967224121094, 28.492128372192383, 26.103679656982422, 26.485727310180664, 26.080095291137695, 26.220352172851562], "step_mean_ms": 26.59156436920166, "step_p50_ms": 26.313087463378906, "step_p95_ms": 27.85684309005737, "sample_ms": 265.9156436920166, "sample_ms_from_mean": 265.9156436920166, "output_transfer_ms": 0.07092207670211792, "total_ms": 391.3210891187191, "control_frequency_hz": 2.555446225124401, "prefill_share": 0.27853644432730884, "sample_share": 0.679533127874289, "other_share": 0.013016307581394944, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.996224358677864, "prefix_embed_ms": 50.04220962524414, "prefill_forward_ms": 59.21587371826172, "prefill_ms": 109.25808334350586, "step_ms": [27.00092887878418, 26.593055725097656, 26.623903274536133, 28.379871368408203, 27.142656326293945, 27.030271530151367, 26.020288467407227, 26.484159469604492, 26.28940773010254, 26.125408172607422], "step_mean_ms": 26.768995094299317, "step_p50_ms": 26.608479499816895, "step_p95_ms": 27.823124599456786, "sample_ms": 267.68995094299316, "sample_ms_from_mean": 267.68995094299316, "output_transfer_ms": 0.0703074038028717, "total_ms": 393.11332255601883, "control_frequency_hz": 2.5437957520696837, "prefill_share": 0.27793024828848567, "sample_share": 0.680948560080528, "other_share": 0.012970195143443644, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.963045060634613, "prefix_embed_ms": 50.30854415893555, "prefill_forward_ms": 58.92710494995117, "prefill_ms": 109.23564910888672, "step_ms": [26.958080291748047, 26.32383918762207, 27.22003173828125, 26.57036781311035, 26.218463897705078, 26.347360610961914, 26.284032821655273, 26.342304229736328, 26.54867172241211, 26.524351119995117], "step_mean_ms": 26.533750343322755, "step_p50_ms": 26.435855865478516, "step_p95_ms": 27.10215358734131, "sample_ms": 265.33750343322754, "sample_ms_from_mean": 265.33750343322754, "output_transfer_ms": 0.07276423275470734, "total_ms": 390.65174758434296, "control_frequency_hz": 2.5598247190334065, "prefill_share": 0.27962411478858773, "sample_share": 0.6792175001749873, "other_share": 0.012908647612668429, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.041546240448952, "prefix_embed_ms": 49.66038513183594, "prefill_forward_ms": 57.445377349853516, "prefill_ms": 107.10576248168945, "step_ms": [26.730592727661133, 26.24457550048828, 26.726560592651367, 26.235488891601562, 26.065183639526367, 26.215967178344727, 26.297311782836914, 26.285600662231445, 25.971328735351562, 26.11408042907715], "step_mean_ms": 26.28866901397705, "step_p50_ms": 26.240032196044922, "step_p95_ms": 26.728778266906737, "sample_ms": 262.8866901397705, "sample_ms_from_mean": 262.8866901397705, "output_transfer_ms": 0.07402896881103516, "total_ms": 386.1172962933779, "control_frequency_hz": 2.589886569702344, "prefill_share": 0.2773917757890567, "sample_share": 0.6808467081464933, "other_share": 0.012973437115471276, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5053, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.383172124624252, "prefix_embed_ms": 50.19257736206055, "prefill_forward_ms": 57.50476837158203, "prefill_ms": 107.69734573364258, "step_ms": [26.666240692138672, 26.38649559020996, 26.409536361694336, 26.281343460083008, 26.337247848510742, 26.252704620361328, 25.919071197509766, 26.083072662353516, 26.213247299194336, 26.066015243530273], "step_mean_ms": 26.261497497558594, "step_p50_ms": 26.267024040222168, "step_p95_ms": 26.55072374343872, "sample_ms": 262.61497497558594, "sample_ms_from_mean": 262.61497497558594, "output_transfer_ms": 0.07121078670024872, "total_ms": 386.76017336547375, "control_frequency_hz": 2.5855816313719506, "prefill_share": 0.27846027887642055, "sample_share": 0.6790124554200795, "other_share": 0.01291102364927862, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.714476764202118, "prefix_embed_ms": 49.58784103393555, "prefill_forward_ms": 56.11212921142578, "prefill_ms": 105.69997024536133, "step_ms": [26.623519897460938, 26.153919219970703, 26.042816162109375, 25.953887939453125, 25.618816375732422, 25.361440658569336, 25.165632247924805, 25.300384521484375, 25.235679626464844, 25.088544845581055], "step_mean_ms": 25.654464149475096, "step_p50_ms": 25.49012851715088, "step_p95_ms": 26.41219959259033, "sample_ms": 256.544641494751, "sample_ms_from_mean": 256.544641494751, "output_transfer_ms": 0.05972757935523987, "total_ms": 376.3814475387335, "control_frequency_hz": 2.656879095766509, "prefill_share": 0.2808320413680425, "sample_share": 0.6816080951183172, "other_share": 0.011590984315492492, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.405756369233131, "prefix_embed_ms": 47.912288665771484, "prefill_forward_ms": 55.90220642089844, "prefill_ms": 103.81449508666992, "step_ms": [25.59427261352539, 25.363008499145508, 25.213247299194336, 25.211519241333008, 25.16579246520996, 25.13395118713379, 25.091360092163086, 25.22742462158203, 25.055679321289062, 25.131999969482422], "step_mean_ms": 25.21882553100586, "step_p50_ms": 25.188655853271484, "step_p95_ms": 25.490203762054442, "sample_ms": 252.1882553100586, "sample_ms_from_mean": 252.1882553100586, "output_transfer_ms": 0.061141327023506165, "total_ms": 369.7831369936466, "control_frequency_hz": 2.7042877296407957, "prefill_share": 0.2807442652217362, "sample_share": 0.6819896043945117, "other_share": 0.011664915106000574, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.296908974647522, "prefix_embed_ms": 47.53897476196289, "prefill_forward_ms": 55.830528259277344, "prefill_ms": 103.36950302124023, "step_ms": [27.03068733215332, 26.42736053466797, 26.059167861938477, 25.682464599609375, 25.582815170288086, 26.480512619018555, 25.95587158203125, 26.070720672607422, 26.319583892822266, 26.382495880126953], "step_mean_ms": 26.199168014526368, "step_p50_ms": 26.195152282714844, "step_p95_ms": 26.783108711242676, "sample_ms": 261.9916801452637, "sample_ms_from_mean": 261.9916801452637, "output_transfer_ms": 0.06604567170143127, "total_ms": 379.1668191552162, "control_frequency_hz": 2.6373615767012533, "prefill_share": 0.27262275547092313, "sample_share": 0.690966790630523, "other_share": 0.011716957069876665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.653560817241669, "prefix_embed_ms": 49.1473274230957, "prefill_forward_ms": 56.013824462890625, "prefill_ms": 105.16115188598633, "step_ms": [27.34204864501953, 27.316192626953125, 27.102079391479492, 29.50009536743164, 27.068767547607422, 27.016096115112305, 27.20355224609375, 27.602783203125, 28.298656463623047, 27.549631118774414], "step_mean_ms": 27.59999027252197, "step_p50_ms": 27.329120635986328, "step_p95_ms": 28.959447860717773, "sample_ms": 275.9999027252197, "sample_ms_from_mean": 275.9999027252197, "output_transfer_ms": 0.07755309343338013, "total_ms": 396.0335813462734, "control_frequency_hz": 2.5250383985130957, "prefill_share": 0.2655359465439833, "sample_share": 0.696910352367059, "other_share": 0.012982264804198273, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.213691741228104, "prefix_embed_ms": 54.73942565917969, "prefill_forward_ms": 56.206336975097656, "prefill_ms": 110.94576263427734, "step_ms": [27.185279846191406, 26.618656158447266, 26.207456588745117, 28.49295997619629, 26.639232635498047, 26.496736526489258, 26.601215362548828, 26.642784118652344, 26.395423889160156, 26.115007400512695], "step_mean_ms": 26.73947525024414, "step_p50_ms": 26.609935760498047, "step_p95_ms": 27.90450391769409, "sample_ms": 267.3947525024414, "sample_ms_from_mean": 267.3947525024414, "output_transfer_ms": 0.0717509537935257, "total_ms": 393.8596863299608, "control_frequency_hz": 2.538975261261539, "prefill_share": 0.28168854667022497, "sample_share": 0.6789086615948506, "other_share": 0.013288307181141212, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.53928753733635, "prefix_embed_ms": 51.50864028930664, "prefill_forward_ms": 59.212799072265625, "prefill_ms": 110.72143936157227, "step_ms": [26.749343872070312, 26.611583709716797, 27.43769645690918, 26.57427215576172, 26.09187126159668, 28.099327087402344, 26.218368530273438, 26.382688522338867, 26.408479690551758, 26.57491111755371], "step_mean_ms": 26.71485424041748, "step_p50_ms": 26.574591636657715, "step_p95_ms": 27.80159330368042, "sample_ms": 267.1485424041748, "sample_ms_from_mean": 267.1485424041748, "output_transfer_ms": 0.07412396371364594, "total_ms": 392.61715300381184, "control_frequency_hz": 2.5470104715223463, "prefill_share": 0.28200866547595105, "sample_share": 0.6804301349553649, "other_share": 0.013075739808456428, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.678039699792862, "prefix_embed_ms": 49.60416030883789, "prefill_forward_ms": 59.17491149902344, "prefill_ms": 108.77907180786133, "step_ms": [26.486143112182617, 26.31760025024414, 26.253408432006836, 26.313152313232422, 26.223936080932617, 26.241376876831055, 27.83839988708496, 26.13580894470215, 25.987104415893555, 25.978271484375], "step_mean_ms": 26.377520179748537, "step_p50_ms": 26.247392654418945, "step_p95_ms": 27.229884338378906, "sample_ms": 263.77520179748535, "sample_ms_from_mean": 263.77520179748535, "output_transfer_ms": 0.06960704922676086, "total_ms": 388.0571760237217, "control_frequency_hz": 2.576939847490079, "prefill_share": 0.28031712471466247, "sample_share": 0.6797328282916766, "other_share": 0.014830947666855096, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.811313822865486, "prefix_embed_ms": 50.0241584777832, "prefill_forward_ms": 57.19142532348633, "prefill_ms": 107.21558380126953, "step_ms": [29.51590347290039, 26.55571174621582, 26.770463943481445, 26.64080047607422, 26.857919692993164, 27.00547218322754, 26.889888763427734, 27.817279815673828, 28.267200469970703, 29.005407333374023], "step_mean_ms": 27.532604789733888, "step_p50_ms": 26.947680473327637, "step_p95_ms": 29.286180210113525, "sample_ms": 275.32604789733887, "sample_ms_from_mean": 275.32604789733887, "output_transfer_ms": 0.07852911949157715, "total_ms": 397.7438881993294, "control_frequency_hz": 2.5141806817628582, "prefill_share": 0.26955934957707867, "sample_share": 0.6922194308096048, "other_share": 0.013356367541973639, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.586043819785118, "prefix_embed_ms": 50.521759033203125, "prefill_forward_ms": 57.3306884765625, "prefill_ms": 107.85244750976562, "step_ms": [26.95052719116211, 26.62838363647461, 29.319040298461914, 26.553855895996094, 26.354816436767578, 26.65648078918457, 27.17840003967285, 27.636192321777344, 26.64633560180664, 26.7007999420166], "step_mean_ms": 27.06248321533203, "step_p50_ms": 26.678640365600586, "step_p95_ms": 28.561758708953857, "sample_ms": 270.6248321533203, "sample_ms_from_mean": 270.6248321533203, "output_transfer_ms": 0.07560849189758301, "total_ms": 394.50363628566265, "control_frequency_hz": 2.5348308811934332, "prefill_share": 0.27338771456004773, "sample_share": 0.685988181760026, "other_share": 0.01359861815572568, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.887857362627983, "prefix_embed_ms": 50.53014373779297, "prefill_forward_ms": 57.20576095581055, "prefill_ms": 107.73590469360352, "step_ms": [27.12451171875, 26.88140869140625, 29.133792877197266, 27.15772819519043, 27.438560485839844, 27.510303497314453, 27.197696685791016, 27.315040588378906, 27.375776290893555, 27.875551223754883], "step_mean_ms": 27.50103702545166, "step_p50_ms": 27.34540843963623, "step_p95_ms": 28.56758413314819, "sample_ms": 275.0103702545166, "sample_ms_from_mean": 275.0103702545166, "output_transfer_ms": 0.1472681760787964, "total_ms": 398.9810310304165, "control_frequency_hz": 2.50638482089582, "prefill_share": 0.2700276361895266, "sample_share": 0.6892818175948597, "other_share": 0.015538659889615055, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.466564446687698, "prefix_embed_ms": 52.54905700683594, "prefill_forward_ms": 57.02656173706055, "prefill_ms": 109.57561874389648, "step_ms": [26.977920532226562, 26.75644874572754, 26.773439407348633, 26.6712646484375, 28.385696411132812, 26.696800231933594, 26.490272521972656, 26.4204158782959, 26.622751235961914, 26.90563201904297], "step_mean_ms": 26.870064163208006, "step_p50_ms": 26.726624488830566, "step_p95_ms": 27.752197265625, "sample_ms": 268.7006416320801, "sample_ms_from_mean": 268.7006416320801, "output_transfer_ms": 0.07921084761619568, "total_ms": 394.3521846085787, "control_frequency_hz": 2.5358043876251575, "prefill_share": 0.27786233478751415, "sample_share": 0.6813722660083238, "other_share": 0.014023375941957248, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.855136275291443, "prefix_embed_ms": 50.45782470703125, "prefill_forward_ms": 56.94566345214844, "prefill_ms": 107.40348815917969, "step_ms": [31.252639770507812, 26.68604850769043, 26.634496688842773, 26.944000244140625, 27.0416316986084, 26.55743980407715, 30.24131202697754, 38.61763381958008, 29.160608291625977, 26.58336067199707], "step_mean_ms": 28.971917152404785, "step_p50_ms": 26.99281597137451, "step_p95_ms": 35.30338649749755, "sample_ms": 289.71917152404785, "sample_ms_from_mean": 289.71917152404785, "output_transfer_ms": 0.08195079863071442, "total_ms": 412.72791661322117, "control_frequency_hz": 2.4229037090726475, "prefill_share": 0.26022830982821665, "sample_share": 0.7019616552750702, "other_share": 0.013733429767929345, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.294860228896141, "prefix_embed_ms": 50.737342834472656, "prefill_forward_ms": 57.02656173706055, "prefill_ms": 107.7639045715332, "step_ms": [26.902143478393555, 28.340576171875, 26.479360580444336, 26.761632919311523, 26.48464012145996, 26.167200088500977, 26.15567970275879, 26.20195198059082, 25.960512161254883, 29.13609504699707], "step_mean_ms": 26.85897922515869, "step_p50_ms": 26.48200035095215, "step_p95_ms": 28.778111553192137, "sample_ms": 268.5897922515869, "sample_ms_from_mean": 268.5897922515869, "output_transfer_ms": 0.07027387619018555, "total_ms": 392.0111935585737, "control_frequency_hz": 2.5509475658648038, "prefill_share": 0.2749000700548396, "sample_share": 0.6851584767603189, "other_share": 0.01350053956960926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.697899222373962, "prefix_embed_ms": 49.3416633605957, "prefill_forward_ms": 56.96409606933594, "prefill_ms": 106.30575942993164, "step_ms": [26.568992614746094, 26.23961639404297, 26.44086456298828, 29.431615829467773, 26.491647720336914, 26.3353271484375, 26.179744720458984, 26.28179168701172, 26.478656768798828, 26.217567443847656], "step_mean_ms": 26.66658248901367, "step_p50_ms": 26.38809585571289, "step_p95_ms": 28.143435382843016, "sample_ms": 266.6658248901367, "sample_ms_from_mean": 266.6658248901367, "output_transfer_ms": 0.08760020136833191, "total_ms": 387.96763122081757, "control_frequency_hz": 2.577534617651737, "prefill_share": 0.27400677498640635, "sample_share": 0.6873403949989835, "other_share": 0.013430366498903232, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.63660329580307, "prefix_embed_ms": 50.8699836730957, "prefill_forward_ms": 59.2127685546875, "prefill_ms": 110.0827522277832, "step_ms": [26.89574432373047, 26.208768844604492, 26.398303985595703, 26.029407501220703, 26.313472747802734, 29.551584243774414, 26.59833526611328, 26.696128845214844, 26.299999237060547, 26.234848022460938], "step_mean_ms": 26.722659301757812, "step_p50_ms": 26.35588836669922, "step_p95_ms": 28.356456279754635, "sample_ms": 267.2265930175781, "sample_ms_from_mean": 267.2265930175781, "output_transfer_ms": 0.06973743438720703, "total_ms": 392.01570115983486, "control_frequency_hz": 2.550918233737465, "prefill_share": 0.28081209987785577, "sample_share": 0.6816731886680809, "other_share": 0.012754629902552352, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.801438078284264, "prefix_embed_ms": 50.69580841064453, "prefill_forward_ms": 57.4832649230957, "prefill_ms": 108.17907333374023, "step_ms": [28.1944637298584, 27.063488006591797, 26.625247955322266, 28.88812828063965, 27.272192001342773, 27.19055938720703, 26.604223251342773, 26.88742446899414, 26.597375869750977, 26.8973445892334], "step_mean_ms": 27.22204475402832, "step_p50_ms": 26.980416297912598, "step_p95_ms": 28.575979232788086, "sample_ms": 272.2204475402832, "sample_ms_from_mean": 272.2204475402832, "output_transfer_ms": 0.16889721155166626, "total_ms": 396.2337877601385, "control_frequency_hz": 2.523762563644253, "prefill_share": 0.2730182954494199, "sample_share": 0.687019774560651, "other_share": 0.01479917103845999, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.345375165343285, "prefix_embed_ms": 51.56643295288086, "prefill_forward_ms": 57.376766204833984, "prefill_ms": 108.94319915771484, "step_ms": [26.740928649902344, 26.465503692626953, 28.789215087890625, 26.896448135375977, 26.580928802490234, 27.21625518798828, 27.355775833129883, 27.305856704711914, 27.96188735961914, 29.27779197692871], "step_mean_ms": 27.459059143066405, "step_p50_ms": 27.261055946350098, "step_p95_ms": 29.057932376861572, "sample_ms": 274.59059143066406, "sample_ms_from_mean": 274.59059143066406, "output_transfer_ms": 0.07314421236515045, "total_ms": 399.181742221117, "control_frequency_hz": 2.50512459421572, "prefill_share": 0.2729162875825328, "sample_share": 0.6878836439331969, "other_share": 0.013100379355859821, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.12573204934597, "prefix_embed_ms": 50.672672271728516, "prefill_forward_ms": 57.36345672607422, "prefill_ms": 108.03612899780273, "step_ms": [27.23072052001953, 26.431615829467773, 28.940160751342773, 26.32294464111328, 26.27814483642578, 26.792512893676758, 27.39401626586914, 27.001344680786133, 26.826496124267578, 28.81622314453125], "step_mean_ms": 27.20341796875, "step_p50_ms": 26.913920402526855, "step_p95_ms": 28.884388828277586, "sample_ms": 272.0341796875, "sample_ms_from_mean": 272.0341796875, "output_transfer_ms": 0.08547492325305939, "total_ms": 395.60036920011044, "control_frequency_hz": 2.527803505396023, "prefill_share": 0.27309410559006264, "sample_share": 0.687648953001594, "other_share": 0.013445016628683134, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.91917960345745, "prefix_embed_ms": 50.700897216796875, "prefill_forward_ms": 57.2303352355957, "prefill_ms": 107.93123245239258, "step_ms": [28.1430721282959, 26.633535385131836, 27.330848693847656, 28.113855361938477, 26.649951934814453, 26.539583206176758, 26.300703048706055, 28.044736862182617, 26.251680374145508, 26.176511764526367], "step_mean_ms": 27.018447875976562, "step_p50_ms": 26.641743659973145, "step_p95_ms": 28.12992458343506, "sample_ms": 270.1844787597656, "sample_ms_from_mean": 270.1844787597656, "output_transfer_ms": 0.08128024637699127, "total_ms": 393.23648251593113, "control_frequency_hz": 2.542999046278691, "prefill_share": 0.274469021190118, "sample_share": 0.6870788718053892, "other_share": 0.013020947144015423, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.856274351477623, "prefix_embed_ms": 49.566078186035156, "prefill_forward_ms": 57.181182861328125, "prefill_ms": 106.74726104736328, "step_ms": [26.654848098754883, 26.31350326538086, 26.04819107055664, 26.354656219482422, 26.055391311645508, 26.2794246673584, 26.468799591064453, 26.193567276000977, 26.36966323852539, 26.241600036621094], "step_mean_ms": 26.29796447753906, "step_p50_ms": 26.29646396636963, "step_p95_ms": 26.57112627029419, "sample_ms": 262.9796447753906, "sample_ms_from_mean": 262.9796447753906, "output_transfer_ms": 0.07385946810245514, "total_ms": 384.73604805767536, "control_frequency_hz": 2.5991845709505523, "prefill_share": 0.2774558339055375, "sample_share": 0.6835326351742523, "other_share": 0.013201280308883323, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.703367948532104, "prefix_embed_ms": 49.917823791503906, "prefill_forward_ms": 56.92927932739258, "prefill_ms": 106.84710311889648, "step_ms": [26.664735794067383, 26.025728225708008, 26.104352951049805, 26.500736236572266, 26.715808868408203, 26.62406349182129, 26.52979278564453, 26.5567684173584, 26.103647232055664, 26.087392807006836], "step_mean_ms": 26.39130268096924, "step_p50_ms": 26.5152645111084, "step_p95_ms": 26.692825984954833, "sample_ms": 263.9130268096924, "sample_ms_from_mean": 263.9130268096924, "output_transfer_ms": 0.07542036473751068, "total_ms": 385.64436696469784, "control_frequency_hz": 2.593062639215318, "prefill_share": 0.27706123120599696, "sample_share": 0.6843430098224439, "other_share": 0.013238748339624294, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.845806285738945, "prefix_embed_ms": 50.81001663208008, "prefill_forward_ms": 56.96307373046875, "prefill_ms": 107.77309036254883, "step_ms": [26.95257568359375, 28.620351791381836, 26.995359420776367, 26.567007064819336, 26.743648529052734, 26.436704635620117, 26.472768783569336, 26.725055694580078, 26.574464797973633, 26.39347267150879], "step_mean_ms": 26.848140907287597, "step_p50_ms": 26.649760246276855, "step_p95_ms": 27.889105224609374, "sample_ms": 268.481409072876, "sample_ms_from_mean": 268.481409072876, "output_transfer_ms": 0.0696089118719101, "total_ms": 391.22532308101654, "control_frequency_hz": 2.556071759682376, "prefill_share": 0.2754757527294079, "sample_share": 0.6862577477309099, "other_share": 0.01292198676754364, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.626999497413635, "prefix_embed_ms": 49.37142562866211, "prefill_forward_ms": 56.9354248046875, "prefill_ms": 106.30685043334961, "step_ms": [26.600128173828125, 26.42736053466797, 26.86083221435547, 26.24198341369629, 26.417951583862305, 26.732864379882812, 26.334272384643555, 26.24995231628418, 26.583295822143555, 26.598783493041992], "step_mean_ms": 26.504742431640626, "step_p50_ms": 26.50532817840576, "step_p95_ms": 26.803246688842773, "sample_ms": 265.04742431640625, "sample_ms_from_mean": 265.04742431640625, "output_transfer_ms": 0.07047876715660095, "total_ms": 386.0959727317095, "control_frequency_hz": 2.590029605656831, "prefill_share": 0.2753378899065082, "sample_share": 0.6864806758825804, "other_share": 0.013064678405460899, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.841108694672585, "prefix_embed_ms": 49.2960319519043, "prefill_forward_ms": 56.07833480834961, "prefill_ms": 105.3743667602539, "step_ms": [26.704479217529297, 26.50111961364746, 26.346080780029297, 26.12188720703125, 26.07366371154785, 26.24492835998535, 26.49648094177246, 26.49577522277832, 26.22870445251465, 26.23436737060547], "step_mean_ms": 26.34474868774414, "step_p50_ms": 26.295504570007324, "step_p95_ms": 26.61296739578247, "sample_ms": 263.4474868774414, "sample_ms_from_mean": 263.4474868774414, "output_transfer_ms": 0.0699404627084732, "total_ms": 383.6991675198078, "control_frequency_hz": 2.606208417036445, "prefill_share": 0.2746275615904591, "sample_share": 0.6865990577470862, "other_share": 0.012943120926826276, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.475553408265114, "prefix_embed_ms": 49.6767692565918, "prefill_forward_ms": 56.08550262451172, "prefill_ms": 105.76227188110352, "step_ms": [26.83286476135254, 26.099071502685547, 26.079679489135742, 26.235807418823242, 26.152223587036133, 26.075008392333984, 26.07926368713379, 26.213695526123047, 25.97939109802246, 26.054880142211914], "step_mean_ms": 26.18018856048584, "step_p50_ms": 26.089375495910645, "step_p95_ms": 26.564188957214355, "sample_ms": 261.8018856048584, "sample_ms_from_mean": 261.8018856048584, "output_transfer_ms": 0.07273070514202118, "total_ms": 382.04499892890453, "control_frequency_hz": 2.6174927110774506, "prefill_share": 0.27683197575578006, "sample_share": 0.6852645273170493, "other_share": 0.012910932857030785, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.615335613489151, "prefix_embed_ms": 50.047359466552734, "prefill_forward_ms": 56.163326263427734, "prefill_ms": 106.21068572998047, "step_ms": [26.869375228881836, 26.39580726623535, 26.289440155029297, 26.126304626464844, 26.2589111328125, 26.147968292236328, 26.00124740600586, 26.04355239868164, 26.131071090698242, 25.990816116333008], "step_mean_ms": 26.22544937133789, "step_p50_ms": 26.139519691467285, "step_p95_ms": 26.656269645690916, "sample_ms": 262.2544937133789, "sample_ms_from_mean": 262.2544937133789, "output_transfer_ms": 0.06818212568759918, "total_ms": 383.69099982082844, "control_frequency_hz": 2.606263895861431, "prefill_share": 0.276813075572733, "sample_share": 0.6835044184925981, "other_share": 0.01444470326611881, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.585624560713768, "prefix_embed_ms": 49.477664947509766, "prefill_forward_ms": 56.235008239746094, "prefill_ms": 105.71267318725586, "step_ms": [27.27689552307129, 26.91916847229004, 26.81235122680664, 26.54969596862793, 26.41641616821289, 26.540544509887695, 26.43075180053711, 26.208864212036133, 26.19481658935547, 26.229759216308594], "step_mean_ms": 26.557926368713378, "step_p50_ms": 26.485648155212402, "step_p95_ms": 27.115918350219726, "sample_ms": 265.5792636871338, "sample_ms_from_mean": 265.5792636871338, "output_transfer_ms": 0.07965043187141418, "total_ms": 386.138254776597, "control_frequency_hz": 2.5897459980455886, "prefill_share": 0.27376897232939706, "sample_share": 0.6877828352976488, "other_share": 0.013417585140896545, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.866297245025635, "prefix_embed_ms": 49.618431091308594, "prefill_forward_ms": 57.20268630981445, "prefill_ms": 106.82111740112305, "step_ms": [26.68000030517578, 26.626943588256836, 26.678239822387695, 26.214752197265625, 28.98476791381836, 29.19068717956543, 28.891616821289062, 28.144895553588867, 26.369184494018555, 26.3470401763916], "step_mean_ms": 27.412812805175783, "step_p50_ms": 26.67912006378174, "step_p95_ms": 29.09802350997925, "sample_ms": 274.1281280517578, "sample_ms_from_mean": 274.1281280517578, "output_transfer_ms": 0.07002800703048706, "total_ms": 396.02635987102985, "control_frequency_hz": 2.5250844421711234, "prefill_share": 0.2697323416449109, "sample_share": 0.6921966713049872, "other_share": 0.012980926743782976, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.693730622529984, "prefix_embed_ms": 51.20899200439453, "prefill_forward_ms": 59.410430908203125, "prefill_ms": 110.61942291259766, "step_ms": [27.022432327270508, 27.587072372436523, 27.618240356445312, 27.180736541748047, 26.88697624206543, 26.058208465576172, 26.30009651184082, 26.614912033081055, 26.557823181152344, 26.280704498291016], "step_mean_ms": 26.810720252990723, "step_p50_ms": 26.750944137573242, "step_p95_ms": 27.60421476364136, "sample_ms": 268.1072025299072, "sample_ms_from_mean": 268.1072025299072, "output_transfer_ms": 0.06948970258235931, "total_ms": 393.7594760209322, "control_frequency_hz": 2.539621420937791, "prefill_share": 0.28093145600060976, "sample_share": 0.6808907946526592, "other_share": 0.013382865871740542, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.78759489953518, "prefix_embed_ms": 49.92380905151367, "prefill_forward_ms": 59.21587371826172, "prefill_ms": 109.13968276977539, "step_ms": [27.571199417114258, 26.878944396972656, 26.60793685913086, 26.49523162841797, 26.65363121032715, 26.619295120239258, 26.309120178222656, 26.585887908935547, 26.120288848876953, 26.246944427490234], "step_mean_ms": 26.608847999572752, "step_p50_ms": 26.596912384033203, "step_p95_ms": 27.259684658050535, "sample_ms": 266.08847999572754, "sample_ms_from_mean": 266.08847999572754, "output_transfer_ms": 0.06936490535736084, "total_ms": 390.1783600449562, "control_frequency_hz": 2.5629304502812005, "prefill_share": 0.2797174163046878, "sample_share": 0.6819662678500902, "other_share": 0.013053613414065036, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.788354858756065, "prefix_embed_ms": 49.61481475830078, "prefill_forward_ms": 57.04499053955078, "prefill_ms": 106.65980529785156, "step_ms": [27.087839126586914, 26.424320220947266, 26.26892852783203, 26.23686408996582, 26.349760055541992, 26.5229434967041, 26.336864471435547, 26.324575424194336, 26.279104232788086, 26.280864715576172], "step_mean_ms": 26.411206436157226, "step_p50_ms": 26.33071994781494, "step_p95_ms": 26.83363609313965, "sample_ms": 264.11206436157227, "sample_ms_from_mean": 264.11206436157227, "output_transfer_ms": 0.07318705320358276, "total_ms": 386.318689212203, "control_frequency_hz": 2.588536428406405, "prefill_share": 0.27609279146022325, "sample_share": 0.6836636997815468, "other_share": 0.01471654827886583, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.646981954574585, "prefix_embed_ms": 49.25881576538086, "prefill_forward_ms": 56.965118408203125, "prefill_ms": 106.22393417358398, "step_ms": [30.655712127685547, 30.567520141601562, 26.5861759185791, 27.341951370239258, 26.705888748168945, 27.110336303710938, 27.002784729003906, 26.559520721435547, 26.961376190185547, 26.90108871459961], "step_mean_ms": 27.639235496520996, "step_p50_ms": 26.982080459594727, "step_p95_ms": 30.616025733947755, "sample_ms": 276.39235496520996, "sample_ms_from_mean": 276.39235496520996, "output_transfer_ms": 0.06968341767787933, "total_ms": 397.43424765765667, "control_frequency_hz": 2.5161394768912406, "prefill_share": 0.2672742341648512, "sample_share": 0.6954417154389014, "other_share": 0.01283556506938081, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.816108271479607, "prefix_embed_ms": 51.27369689941406, "prefill_forward_ms": 56.96819305419922, "prefill_ms": 108.24188995361328, "step_ms": [27.212352752685547, 27.02524757385254, 27.31216049194336, 26.642240524291992, 26.975584030151367, 27.4783992767334, 26.745664596557617, 27.013696670532227, 27.233728408813477, 26.721759796142578], "step_mean_ms": 27.03608341217041, "step_p50_ms": 27.019472122192383, "step_p95_ms": 27.40359182357788, "sample_ms": 270.3608341217041, "sample_ms_from_mean": 270.3608341217041, "output_transfer_ms": 0.08162111043930054, "total_ms": 393.761046230793, "control_frequency_hz": 2.539611293631812, "prefill_share": 0.27489232617024806, "sample_share": 0.6866114276911968, "other_share": 0.013359860818922518, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.019835084676743, "prefix_embed_ms": 52.08620834350586, "prefill_forward_ms": 56.8985595703125, "prefill_ms": 108.98476791381836, "step_ms": [27.341951370239258, 27.123327255249023, 27.02694320678711, 27.374208450317383, 26.63795280456543, 26.820512771606445, 27.420896530151367, 26.798112869262695, 26.900863647460938, 27.3635196685791], "step_mean_ms": 27.080828857421874, "step_p50_ms": 27.075135231018066, "step_p95_ms": 27.399886894226075, "sample_ms": 270.80828857421875, "sample_ms_from_mean": 270.80828857421875, "output_transfer_ms": 0.07606111466884613, "total_ms": 395.1921034604311, "control_frequency_hz": 2.5304149330001118, "prefill_share": 0.2757766841986774, "sample_share": 0.6852573373884067, "other_share": 0.01341917190807276, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.075857862830162, "prefix_embed_ms": 51.677310943603516, "prefill_forward_ms": 57.07263946533203, "prefill_ms": 108.74995040893555, "step_ms": [27.831552505493164, 27.551679611206055, 26.79190444946289, 27.192607879638672, 27.144704818725586, 26.620351791381836, 27.659839630126953, 27.324384689331055, 26.77724838256836, 26.68956756591797], "step_mean_ms": 27.158384132385255, "step_p50_ms": 27.16865634918213, "step_p95_ms": 27.75428171157837, "sample_ms": 271.58384132385254, "sample_ms_from_mean": 271.58384132385254, "output_transfer_ms": 0.08296966552734375, "total_ms": 396.00261859595776, "control_frequency_hz": 2.5252358268375543, "prefill_share": 0.2746192709394514, "sample_share": 0.6858132461011579, "other_share": 0.01391404772611877, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.88353618979454, "prefix_embed_ms": 50.10950469970703, "prefill_forward_ms": 59.233280181884766, "prefill_ms": 109.3427848815918, "step_ms": [27.771263122558594, 26.746431350708008, 27.113056182861328, 27.925119400024414, 28.90492820739746, 27.64975929260254, 27.429248809814453, 27.825376510620117, 28.76905632019043, 27.4385929107666], "step_mean_ms": 27.757283210754395, "step_p50_ms": 27.710511207580566, "step_p95_ms": 28.8437858581543, "sample_ms": 277.57283210754395, "sample_ms_from_mean": 277.57283210754395, "output_transfer_ms": 0.07460825145244598, "total_ms": 403.1629916280508, "control_frequency_hz": 2.480386396483975, "prefill_share": 0.27121235617397393, "sample_share": 0.6884878767930824, "other_share": 0.013119334630168141, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.25582104921341, "prefix_embed_ms": 52.78028869628906, "prefill_forward_ms": 57.90412902832031, "prefill_ms": 110.68441772460938, "step_ms": [27.640735626220703, 27.34921646118164, 27.547103881835938, 27.645919799804688, 27.325855255126953, 27.87843132019043, 27.38630485534668, 27.001951217651367, 27.286239624023438, 27.736576080322266], "step_mean_ms": 27.47983341217041, "step_p50_ms": 27.46670436859131, "step_p95_ms": 27.814596462249757, "sample_ms": 274.7983341217041, "sample_ms_from_mean": 274.7983341217041, "output_transfer_ms": 0.07477030158042908, "total_ms": 401.30869671702385, "control_frequency_hz": 2.4918473189857964, "prefill_share": 0.2758086695605719, "sample_share": 0.6847554921429315, "other_share": 0.013693581935483177, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.32646931707859, "prefix_embed_ms": 51.85123062133789, "prefill_forward_ms": 57.675777435302734, "prefill_ms": 109.52700805664062, "step_ms": [27.82636833190918, 28.62099266052246, 28.38857650756836, 27.695423126220703, 27.607040405273438, 27.56268882751465, 28.112064361572266, 27.786943435668945, 27.74652862548828, 27.988096237182617], "step_mean_ms": 27.93347225189209, "step_p50_ms": 27.806655883789062, "step_p95_ms": 28.516405391693116, "sample_ms": 279.3347225189209, "sample_ms_from_mean": 279.3347225189209, "output_transfer_ms": 0.06987713277339935, "total_ms": 404.75135296583176, "control_frequency_hz": 2.4706526430917646, "prefill_share": 0.27060319194507215, "sample_share": 0.6901390704986766, "other_share": 0.013571976721426732, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.48191823065281, "prefix_embed_ms": 52.15875244140625, "prefill_forward_ms": 57.598976135253906, "prefill_ms": 109.75772857666016, "step_ms": [27.267711639404297, 27.829919815063477, 27.614240646362305, 28.173599243164062, 28.840864181518555, 27.96086311340332, 27.300735473632812, 26.668672561645508, 28.089696884155273, 27.35366439819336], "step_mean_ms": 27.7099967956543, "step_p50_ms": 27.72208023071289, "step_p95_ms": 28.540594959259032, "sample_ms": 277.09996795654297, "sample_ms_from_mean": 277.09996795654297, "output_transfer_ms": 0.07174350321292877, "total_ms": 402.8280433267355, "control_frequency_hz": 2.4824488179659725, "prefill_share": 0.27246794356776, "sample_share": 0.6878864879121289, "other_share": 0.013446643423663376, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.189905762672424, "prefix_embed_ms": 51.73408126831055, "prefill_forward_ms": 57.608192443847656, "prefill_ms": 109.3422737121582, "step_ms": [27.43052864074707, 27.647552490234375, 27.383808135986328, 26.94051170349121, 27.162464141845703, 27.296480178833008, 27.201759338378906, 26.969728469848633, 27.326335906982422, 27.052032470703125], "step_mean_ms": 27.24112014770508, "step_p50_ms": 27.249119758605957, "step_p95_ms": 27.54989175796509, "sample_ms": 272.4112014770508, "sample_ms_from_mean": 272.4112014770508, "output_transfer_ms": 0.07255561649799347, "total_ms": 397.3065633326769, "control_frequency_hz": 2.5169481007608465, "prefill_share": 0.2752088281526892, "sample_share": 0.6856448561836432, "other_share": 0.013316232986233058, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.619327425956726, "prefix_embed_ms": 51.73875045776367, "prefill_forward_ms": 57.30201721191406, "prefill_ms": 109.04076766967773, "step_ms": [27.80873680114746, 27.154144287109375, 27.97145652770996, 27.959007263183594, 27.835359573364258, 27.159616470336914, 26.44486427307129, 27.666879653930664, 27.932031631469727, 27.8753604888916], "step_mean_ms": 27.580745697021484, "step_p50_ms": 27.82204818725586, "step_p95_ms": 27.965854358673095, "sample_ms": 275.80745697021484, "sample_ms_from_mean": 275.80745697021484, "output_transfer_ms": 0.06849505007266998, "total_ms": 400.8093848824501, "control_frequency_hz": 2.494951559812606, "prefill_share": 0.27205143338062643, "sample_share": 0.6881262449757857, "other_share": 0.01315672228601808, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.00707782804966, "prefix_embed_ms": 51.69388961791992, "prefill_forward_ms": 57.31532669067383, "prefill_ms": 109.00921630859375, "step_ms": [27.300128936767578, 27.432479858398438, 26.588512420654297, 26.47551918029785, 26.457759857177734, 26.4967041015625, 26.500896453857422, 26.292768478393555, 26.468063354492188, 26.665504455566406], "step_mean_ms": 26.667833709716795, "step_p50_ms": 26.49880027770996, "step_p95_ms": 27.37292194366455, "sample_ms": 266.67833709716797, "sample_ms_from_mean": 266.67833709716797, "output_transfer_ms": 0.07981806993484497, "total_ms": 391.20971970260143, "control_frequency_hz": 2.5561737084656344, "prefill_share": 0.2786464927084706, "sample_share": 0.6816761539051164, "other_share": 0.013893495291955207, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.240552946925163, "prefix_embed_ms": 51.59526443481445, "prefill_forward_ms": 57.190399169921875, "prefill_ms": 108.78566360473633, "step_ms": [27.947711944580078, 27.63248062133789, 26.863584518432617, 31.3187198638916, 28.919584274291992, 26.370271682739258, 27.536479949951172, 27.061599731445312, 26.696767807006836, 26.740320205688477], "step_mean_ms": 27.708752059936522, "step_p50_ms": 27.299039840698242, "step_p95_ms": 30.239108848571775, "sample_ms": 277.08752059936523, "sample_ms_from_mean": 277.08752059936523, "output_transfer_ms": 0.07134303450584412, "total_ms": 401.36423893272877, "control_frequency_hz": 2.4915024882613084, "prefill_share": 0.2710397515583582, "sample_share": 0.690364247039475, "other_share": 0.012903886905739646, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.870566427707672, "prefix_embed_ms": 51.72284698486328, "prefill_forward_ms": 57.238529205322266, "prefill_ms": 108.96137619018555, "step_ms": [27.576799392700195, 27.04243278503418, 27.000160217285156, 27.004352569580078, 27.202367782592773, 27.331680297851562, 27.140480041503906, 27.78700828552246, 27.52400016784668, 27.466815948486328], "step_mean_ms": 27.30760974884033, "step_p50_ms": 27.267024040222168, "step_p95_ms": 27.69241428375244, "sample_ms": 273.0760974884033, "sample_ms_from_mean": 273.0760974884033, "output_transfer_ms": 0.07288716733455658, "total_ms": 397.50259183347225, "control_frequency_hz": 2.5157068671867555, "prefill_share": 0.2741148823397692, "sample_share": 0.6869794137161361, "other_share": 0.013890889451494129, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.787214919924736, "prefix_embed_ms": 52.03116989135742, "prefill_forward_ms": 59.242462158203125, "prefill_ms": 111.27363204956055, "step_ms": [27.893056869506836, 27.081344604492188, 27.516544342041016, 27.23855972290039, 26.96099281311035, 27.265344619750977, 27.26131248474121, 26.985759735107422, 27.310688018798828, 27.108064651489258], "step_mean_ms": 27.26216678619385, "step_p50_ms": 27.2499361038208, "step_p95_ms": 27.723626232147215, "sample_ms": 272.6216678619385, "sample_ms_from_mean": 272.6216678619385, "output_transfer_ms": 0.07542222738265991, "total_ms": 399.02270026504993, "control_frequency_hz": 2.506123083563297, "prefill_share": 0.27886541787133234, "sample_share": 0.6832234549083301, "other_share": 0.013194144600661586, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.960819035768509, "prefix_embed_ms": 54.994110107421875, "prefill_forward_ms": 58.09868621826172, "prefill_ms": 113.0927963256836, "step_ms": [28.28156852722168, 28.022783279418945, 27.692415237426758, 27.903776168823242, 27.654783248901367, 29.8822078704834, 28.34435272216797, 28.69740867614746, 28.159423828125, 27.875680923461914], "step_mean_ms": 28.251440048217773, "step_p50_ms": 28.091103553771973, "step_p95_ms": 29.349048233032224, "sample_ms": 282.51440048217773, "sample_ms_from_mean": 282.51440048217773, "output_transfer_ms": 0.07629022002220154, "total_ms": 411.2215358763933, "control_frequency_hz": 2.4317792546268397, "prefill_share": 0.27501671595253585, "sample_share": 0.6870126582258986, "other_share": 0.013562591756910578, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.251332074403763, "prefix_embed_ms": 50.98134231567383, "prefill_forward_ms": 58.0945930480957, "prefill_ms": 109.07593536376953, "step_ms": [27.18796730041504, 26.796735763549805, 26.866432189941406, 26.9204158782959, 26.60380744934082, 26.582975387573242, 28.893312454223633, 26.47648048400879, 26.47667121887207, 27.593151092529297], "step_mean_ms": 27.039794921875, "step_p50_ms": 26.831583976745605, "step_p95_ms": 28.30823984146118, "sample_ms": 270.39794921875, "sample_ms_from_mean": 270.39794921875, "output_transfer_ms": 0.07654726505279541, "total_ms": 395.12546733021736, "control_frequency_hz": 2.5308416760802515, "prefill_share": 0.2760539230760637, "sample_share": 0.684334399009444, "other_share": 0.013473450456667488, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.422088369727135, "prefix_embed_ms": 53.12355041503906, "prefill_forward_ms": 57.72390365600586, "prefill_ms": 110.84745407104492, "step_ms": [28.043615341186523, 26.994367599487305, 29.92406463623047, 27.298656463623047, 27.07481575012207, 27.03321647644043, 27.29136085510254, 27.052383422851562, 26.938976287841797, 26.75436782836914], "step_mean_ms": 27.440582466125488, "step_p50_ms": 27.063599586486816, "step_p95_ms": 29.077862453460693, "sample_ms": 274.4058246612549, "sample_ms_from_mean": 274.4058246612549, "output_transfer_ms": 0.10259635746479034, "total_ms": 402.52876095473766, "control_frequency_hz": 2.484294532465582, "prefill_share": 0.27537772408642663, "sample_share": 0.6817048898826646, "other_share": 0.014286674774756236, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.350642889738083, "prefix_embed_ms": 51.51116943359375, "prefill_forward_ms": 57.596927642822266, "prefill_ms": 109.10809707641602, "step_ms": [27.430015563964844, 27.448768615722656, 27.57993507385254, 27.897504806518555, 29.36345672607422, 27.593215942382812, 27.28223991394043, 27.161535263061523, 26.910879135131836, 26.626720428466797], "step_mean_ms": 27.529427146911623, "step_p50_ms": 27.43939208984375, "step_p95_ms": 28.703778362274168, "sample_ms": 275.2942714691162, "sample_ms_from_mean": 275.2942714691162, "output_transfer_ms": 0.0756680965423584, "total_ms": 401.2921154499054, "control_frequency_hz": 2.49195028135267, "prefill_share": 0.27189195320742937, "sample_share": 0.6860196372422426, "other_share": 0.013614610673243457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.152548551559448, "prefix_embed_ms": 50.51203155517578, "prefill_forward_ms": 57.569278717041016, "prefill_ms": 108.0813102722168, "step_ms": [27.32352066040039, 26.77449607849121, 27.000288009643555, 27.207935333251953, 27.16979217529297, 27.589632034301758, 29.803295135498047, 27.243423461914062, 27.57094383239746, 26.71161651611328], "step_mean_ms": 27.439494323730468, "step_p50_ms": 27.225679397583008, "step_p95_ms": 28.807146739959716, "sample_ms": 274.3949432373047, "sample_ms_from_mean": 274.3949432373047, "output_transfer_ms": 0.07950887084007263, "total_ms": 398.8689109683037, "control_frequency_hz": 2.507089353172139, "prefill_share": 0.27096950226036925, "sample_share": 0.68793264075452, "other_share": 0.015445174760366897, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.384634137153625, "prefix_embed_ms": 51.62633514404297, "prefill_forward_ms": 57.378814697265625, "prefill_ms": 109.0051498413086, "step_ms": [27.798368453979492, 26.850175857543945, 27.365312576293945, 26.510847091674805, 26.593631744384766, 26.46601676940918, 26.260831832885742, 26.713504791259766, 26.808639526367188, 26.153535842895508], "step_mean_ms": 26.752086448669434, "step_p50_ms": 26.653568267822266, "step_p95_ms": 27.603493309020994, "sample_ms": 267.52086448669434, "sample_ms_from_mean": 267.52086448669434, "output_transfer_ms": 0.06743893027305603, "total_ms": 392.2721315175295, "control_frequency_hz": 2.5492506850574292, "prefill_share": 0.27788145290774363, "sample_share": 0.6819777470598613, "other_share": 0.013495845604987367, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.668471291661263, "prefix_embed_ms": 52.68352127075195, "prefill_forward_ms": 57.179134368896484, "prefill_ms": 109.86265563964844, "step_ms": [27.777856826782227, 26.60688018798828, 26.660512924194336, 26.49782371520996, 26.69536018371582, 26.66102409362793, 26.580768585205078, 30.908031463623047, 26.604671478271484, 26.417728424072266], "step_mean_ms": 27.141065788269042, "step_p50_ms": 26.63369655609131, "step_p95_ms": 29.499452877044675, "sample_ms": 271.41065788269043, "sample_ms_from_mean": 271.41065788269043, "output_transfer_ms": 0.06802752614021301, "total_ms": 396.175853908062, "control_frequency_hz": 2.5241316201770934, "prefill_share": 0.2773078029766639, "sample_share": 0.6850762236147663, "other_share": 0.013039768872740259, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.764442220330238, "prefix_embed_ms": 50.18742370605469, "prefill_forward_ms": 57.2334098815918, "prefill_ms": 107.42083358764648, "step_ms": [27.105695724487305, 26.277568817138672, 26.238239288330078, 29.242143630981445, 26.59564781188965, 26.317951202392578, 26.333280563354492, 26.404895782470703, 26.51568031311035, 28.80022430419922], "step_mean_ms": 26.983132743835448, "step_p50_ms": 26.460288047790527, "step_p95_ms": 29.043279933929444, "sample_ms": 269.8313274383545, "sample_ms_from_mean": 269.8313274383545, "output_transfer_ms": 0.07285363972187042, "total_ms": 392.1162448823452, "control_frequency_hz": 2.550264145011515, "prefill_share": 0.2739515003258235, "sample_share": 0.6881411595668974, "other_share": 0.012819637191518057, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.936768561601639, "prefix_embed_ms": 50.27900695800781, "prefill_forward_ms": 57.20985412597656, "prefill_ms": 107.48886108398438, "step_ms": [27.037824630737305, 26.608287811279297, 26.40787124633789, 27.01558494567871, 27.21900749206543, 29.556575775146484, 26.95894432067871, 27.492063522338867, 27.693920135498047, 26.659135818481445], "step_mean_ms": 27.264921569824217, "step_p50_ms": 27.026704788208008, "step_p95_ms": 28.718380737304685, "sample_ms": 272.6492156982422, "sample_ms_from_mean": 272.6492156982422, "output_transfer_ms": 0.0882372260093689, "total_ms": 395.3191600739956, "control_frequency_hz": 2.5296016510123636, "prefill_share": 0.27190400046348545, "sample_share": 0.6896939061774994, "other_share": 0.013042822167265834, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.295109823346138, "prefix_embed_ms": 51.36899185180664, "prefill_forward_ms": 56.75212860107422, "prefill_ms": 108.12112045288086, "step_ms": [26.757856369018555, 26.780160903930664, 27.115264892578125, 27.318496704101562, 27.049823760986328, 28.01888084411621, 26.48249626159668, 26.987520217895508, 26.36284828186035, 26.518592834472656], "step_mean_ms": 26.939194107055663, "step_p50_ms": 26.883840560913086, "step_p95_ms": 27.70370798110962, "sample_ms": 269.39194107055664, "sample_ms_from_mean": 269.39194107055664, "output_transfer_ms": 0.06701424717903137, "total_ms": 393.6552591621876, "control_frequency_hz": 2.5402937639606025, "prefill_share": 0.27465940803888644, "sample_share": 0.6843346679627772, "other_share": 0.01468308484059524, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.653618559241295, "prefix_embed_ms": 51.64646530151367, "prefill_forward_ms": 56.44492721557617, "prefill_ms": 108.09139251708984, "step_ms": [26.674591064453125, 26.33785629272461, 26.6013126373291, 26.459552764892578, 26.586368560791016, 28.58697509765625, 26.328224182128906, 26.39740753173828, 26.768800735473633, 26.842111587524414], "step_mean_ms": 26.75832004547119, "step_p50_ms": 26.59384059906006, "step_p95_ms": 27.80178651809692, "sample_ms": 267.5832004547119, "sample_ms_from_mean": 267.5832004547119, "output_transfer_ms": 0.080866739153862, "total_ms": 390.48480801284313, "control_frequency_hz": 2.560919092061348, "prefill_share": 0.2768133107845125, "sample_share": 0.6852589267593505, "other_share": 0.01299853320408633, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.85489971935749, "prefix_embed_ms": 51.52377700805664, "prefill_forward_ms": 56.425472259521484, "prefill_ms": 107.94924926757812, "step_ms": [26.46656036376953, 27.073728561401367, 26.64409637451172, 26.572160720825195, 26.631999969482422, 28.303327560424805, 26.504735946655273, 26.30054473876953, 26.314111709594727, 26.54092788696289], "step_mean_ms": 26.735219383239745, "step_p50_ms": 26.556544303894043, "step_p95_ms": 27.750008010864256, "sample_ms": 267.35219383239746, "sample_ms_from_mean": 267.35219383239746, "output_transfer_ms": 0.07544644176959991, "total_ms": 390.3774321079254, "control_frequency_hz": 2.561623489862846, "prefill_share": 0.2765253326368877, "sample_share": 0.6848556597874339, "other_share": 0.013181199586865852, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.735936298966408, "prefix_embed_ms": 50.27008056640625, "prefill_forward_ms": 56.443904876708984, "prefill_ms": 106.71398544311523, "step_ms": [26.82988739013672, 26.29680061340332, 26.191551208496094, 26.35036849975586, 26.913375854492188, 27.164831161499023, 27.88912010192871, 26.223648071289062, 26.228736877441406, 26.25542449951172], "step_mean_ms": 26.63437442779541, "step_p50_ms": 26.32358455657959, "step_p95_ms": 27.56319007873535, "sample_ms": 266.3437442779541, "sample_ms_from_mean": 266.3437442779541, "output_transfer_ms": 0.07049180567264557, "total_ms": 387.9368156194687, "control_frequency_hz": 2.5777393630536745, "prefill_share": 0.27508084086505497, "sample_share": 0.6865647537283842, "other_share": 0.013075989670276933, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.11679507791996, "prefix_embed_ms": 50.01811218261719, "prefill_forward_ms": 56.411136627197266, "prefill_ms": 106.42924880981445, "step_ms": [26.735551834106445, 27.78099250793457, 26.182207107543945, 26.598623275756836, 27.745023727416992, 26.617311477661133, 26.356767654418945, 26.34272003173828, 26.176959991455078, 28.13987159729004], "step_mean_ms": 26.867602920532228, "step_p50_ms": 26.607967376708984, "step_p95_ms": 27.978376007080076, "sample_ms": 268.67602920532227, "sample_ms_from_mean": 268.67602920532227, "output_transfer_ms": 0.0727679580450058, "total_ms": 390.56491293013096, "control_frequency_hz": 2.5603938472038124, "prefill_share": 0.2725007938151726, "sample_share": 0.687916452068459, "other_share": 0.013493459613388388, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.64537838101387, "prefix_embed_ms": 50.973758697509766, "prefill_forward_ms": 59.3172492980957, "prefill_ms": 110.29100799560547, "step_ms": [28.129791259765625, 27.069536209106445, 26.690336227416992, 27.122495651245117, 29.281375885009766, 26.8450870513916, 26.46028709411621, 26.9003849029541, 26.841312408447266, 26.43267250061035], "step_mean_ms": 27.17732791900635, "step_p50_ms": 26.87273597717285, "step_p95_ms": 28.7631628036499, "sample_ms": 271.7732791900635, "sample_ms_from_mean": 271.7732791900635, "output_transfer_ms": 0.07051229476928711, "total_ms": 398.08119647204876, "control_frequency_hz": 2.5120503275773665, "prefill_share": 0.27705656276419866, "sample_share": 0.682708155016174, "other_share": 0.013316425537243047, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.331355035305023, "prefix_embed_ms": 52.98777770996094, "prefill_forward_ms": 59.295745849609375, "prefill_ms": 112.28352355957031, "step_ms": [26.656095504760742, 26.132736206054688, 27.045984268188477, 26.31100845336914, 26.139360427856445, 26.244287490844727, 26.265600204467773, 27.103391647338867, 27.412960052490234, 26.800735473632812], "step_mean_ms": 26.61121597290039, "step_p50_ms": 26.48355197906494, "step_p95_ms": 27.27365427017212, "sample_ms": 266.1121597290039, "sample_ms_from_mean": 266.1121597290039, "output_transfer_ms": 0.11661462485790253, "total_ms": 394.0533194690943, "control_frequency_hz": 2.537727638856828, "prefill_share": 0.2849450011253534, "sample_share": 0.6753201827801761, "other_share": 0.013220714717937372, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.3010144084692, "prefix_embed_ms": 50.20582580566406, "prefill_forward_ms": 59.194366455078125, "prefill_ms": 109.40019226074219, "step_ms": [29.090784072875977, 28.06505584716797, 26.260608673095703, 26.416799545288086, 26.2491512298584, 26.15567970275879, 26.08675193786621, 26.08857536315918, 26.01728057861328, 26.074623107910156], "step_mean_ms": 26.650531005859374, "step_p50_ms": 26.202415466308594, "step_p95_ms": 28.629206371307372, "sample_ms": 266.50531005859375, "sample_ms_from_mean": 266.50531005859375, "output_transfer_ms": 0.0734236091375351, "total_ms": 391.3539629429579, "control_frequency_hz": 2.555231567044987, "prefill_share": 0.2795428247054391, "sample_share": 0.6809827810468306, "other_share": 0.012965302734789921, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.918564930558205, "prefix_embed_ms": 49.46063995361328, "prefill_forward_ms": 59.19948959350586, "prefill_ms": 108.66012954711914, "step_ms": [26.688831329345703, 26.278976440429688, 26.129344940185547, 26.034912109375, 26.277055740356445, 26.510400772094727, 26.22332763671875, 26.081056594848633, 26.102079391479492, 26.13155174255371], "step_mean_ms": 26.245753669738768, "step_p50_ms": 26.17743968963623, "step_p95_ms": 26.608537578582762, "sample_ms": 262.4575366973877, "sample_ms_from_mean": 262.4575366973877, "output_transfer_ms": 0.06860122084617615, "total_ms": 386.0265351831913, "control_frequency_hz": 2.5904954941127136, "prefill_share": 0.28148357598151585, "sample_share": 0.679895066210505, "other_share": 0.012749648893811038, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.7284484654665, "prefix_embed_ms": 49.14361572265625, "prefill_forward_ms": 59.29673767089844, "prefill_ms": 108.44035339355469, "step_ms": [26.56502342224121, 26.367807388305664, 26.44220733642578, 26.731456756591797, 26.666240692138672, 26.132160186767578, 26.374303817749023, 26.081247329711914, 26.16796875, 26.582752227783203], "step_mean_ms": 26.411116790771484, "step_p50_ms": 26.408255577087402, "step_p95_ms": 26.70210952758789, "sample_ms": 264.11116790771484, "sample_ms_from_mean": 264.11116790771484, "output_transfer_ms": 0.07921457290649414, "total_ms": 387.38500513136387, "control_frequency_hz": 2.581411223340707, "prefill_share": 0.2799291453131546, "sample_share": 0.681779533046597, "other_share": 0.012973710198248554, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.029060766100883, "prefix_embed_ms": 50.39619064331055, "prefill_forward_ms": 57.174015045166016, "prefill_ms": 107.57020568847656, "step_ms": [26.73459243774414, 26.1092472076416, 26.358816146850586, 26.187328338623047, 26.555072784423828, 26.4017276763916, 26.23632049560547, 26.266944885253906, 26.517471313476562, 26.5402889251709], "step_mean_ms": 26.390781021118165, "step_p50_ms": 26.380271911621094, "step_p95_ms": 26.65380859375, "sample_ms": 263.90781021118164, "sample_ms_from_mean": 263.90781021118164, "output_transfer_ms": 0.07857941091060638, "total_ms": 386.71144284307957, "control_frequency_hz": 2.585907447289533, "prefill_share": 0.27816659599629845, "sample_share": 0.6824411718229673, "other_share": 0.013254810172477427, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.871073067188263, "prefix_embed_ms": 49.87919998168945, "prefill_forward_ms": 56.9354248046875, "prefill_ms": 106.81462478637695, "step_ms": [27.112991333007812, 26.309280395507812, 26.207839965820312, 26.297504425048828, 26.379072189331055, 26.236831665039062, 26.123519897460938, 26.16752052307129, 26.575807571411133, 26.418560028076172], "step_mean_ms": 26.38289279937744, "step_p50_ms": 26.30339241027832, "step_p95_ms": 26.871258640289305, "sample_ms": 263.8289279937744, "sample_ms_from_mean": 263.8289279937744, "output_transfer_ms": 0.07620453834533691, "total_ms": 386.6969682276249, "control_frequency_hz": 2.586004241469411, "prefill_share": 0.27622307274853447, "sample_share": 0.6822627268142284, "other_share": 0.015790498358253524, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.00109314918518, "prefix_embed_ms": 49.94492721557617, "prefill_forward_ms": 56.96819305419922, "prefill_ms": 106.91312026977539, "step_ms": [28.141311645507812, 26.72867202758789, 26.386560440063477, 26.509952545166016, 26.292959213256836, 26.687807083129883, 26.20684814453125, 26.637632369995117, 26.3668155670166, 26.153600692749023], "step_mean_ms": 26.61121597290039, "step_p50_ms": 26.448256492614746, "step_p95_ms": 27.505623817443848, "sample_ms": 266.1121597290039, "sample_ms_from_mean": 266.1121597290039, "output_transfer_ms": 0.07130950689315796, "total_ms": 388.6395376175642, "control_frequency_hz": 2.5730784009527032, "prefill_share": 0.27509584054461766, "sample_share": 0.6847274504295757, "other_share": 0.014259627305752812, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.733356535434723, "prefix_embed_ms": 50.32457733154297, "prefill_forward_ms": 56.98662567138672, "prefill_ms": 107.31120300292969, "step_ms": [26.807615280151367, 26.22256088256836, 26.211040496826172, 26.075647354125977, 26.116992950439453, 26.122528076171875, 26.15065574645996, 26.15545654296875, 26.108287811279297, 26.381311416625977], "step_mean_ms": 26.235209655761718, "step_p50_ms": 26.153056144714355, "step_p95_ms": 26.61577854156494, "sample_ms": 262.3520965576172, "sample_ms_from_mean": 262.3520965576172, "output_transfer_ms": 0.07464736700057983, "total_ms": 384.4641502946615, "control_frequency_hz": 2.6010227461613225, "prefill_share": 0.27911887992855533, "sample_share": 0.682383770649474, "other_share": 0.012986508177297467, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.579285979270935, "prefix_embed_ms": 49.32495880126953, "prefill_forward_ms": 56.96201705932617, "prefill_ms": 106.2869758605957, "step_ms": [26.481952667236328, 26.075008392333984, 26.336448669433594, 26.260032653808594, 26.207103729248047, 26.375839233398438, 26.349023818969727, 26.399839401245117, 26.21228790283203, 27.204511642456055], "step_mean_ms": 26.39020481109619, "step_p50_ms": 26.34273624420166, "step_p95_ms": 26.879360103607176, "sample_ms": 263.9020481109619, "sample_ms_from_mean": 263.9020481109619, "output_transfer_ms": 0.0726357102394104, "total_ms": 385.516120120883, "control_frequency_hz": 2.593925254504114, "prefill_share": 0.2757004709096683, "sample_share": 0.6845421873103839, "other_share": 0.014720978355030938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.299380868673325, "prefix_embed_ms": 50.76172637939453, "prefill_forward_ms": 56.92313766479492, "prefill_ms": 107.68486404418945, "step_ms": [26.655359268188477, 26.205888748168945, 26.08348846435547, 26.072799682617188, 26.018720626831055, 26.16921615600586, 26.261280059814453, 26.3437442779541, 26.52227210998535, 26.160127639770508], "step_mean_ms": 26.24928970336914, "step_p50_ms": 26.187552452087402, "step_p95_ms": 26.59547004699707, "sample_ms": 262.4928970336914, "sample_ms_from_mean": 262.4928970336914, "output_transfer_ms": 0.07649511098861694, "total_ms": 385.63600927591324, "control_frequency_hz": 2.593118837314085, "prefill_share": 0.2792396494465939, "sample_share": 0.6806752759592118, "other_share": 0.013179195137698158, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.78565402328968, "prefix_embed_ms": 49.121055603027344, "prefill_forward_ms": 56.44287872314453, "prefill_ms": 105.56393432617188, "step_ms": [26.409791946411133, 25.798175811767578, 26.208032608032227, 26.101728439331055, 26.717504501342773, 26.354368209838867, 26.342975616455078, 26.171615600585938, 26.1059513092041, 26.035295486450195], "step_mean_ms": 26.224543952941893, "step_p50_ms": 26.189824104309082, "step_p95_ms": 26.579033851623535, "sample_ms": 262.24543952941895, "sample_ms_from_mean": 262.24543952941895, "output_transfer_ms": 0.07421709597110748, "total_ms": 382.65519961714745, "control_frequency_hz": 2.6133187292385305, "prefill_share": 0.27587220670669116, "sample_share": 0.685330918779621, "other_share": 0.01302988864984551, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.039858520030975, "prefix_embed_ms": 49.52678298950195, "prefill_forward_ms": 56.41215896606445, "prefill_ms": 105.9389419555664, "step_ms": [26.70560073852539, 26.543840408325195, 27.140832901000977, 26.53830337524414, 26.524608612060547, 26.4749755859375, 26.426719665527344, 27.084064483642578, 27.046016693115234, 26.914304733276367], "step_mean_ms": 26.739926719665526, "step_p50_ms": 26.624720573425293, "step_p95_ms": 27.115287113189698, "sample_ms": 267.3992671966553, "sample_ms_from_mean": 267.3992671966553, "output_transfer_ms": 0.07055327296257019, "total_ms": 388.59185948967934, "control_frequency_hz": 2.573394103811789, "prefill_share": 0.27262264859251395, "sample_share": 0.6881236975674658, "other_share": 0.013235579744821473, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.666180238127708, "prefix_embed_ms": 49.5115852355957, "prefill_forward_ms": 56.49715042114258, "prefill_ms": 106.00873565673828, "step_ms": [27.02115249633789, 26.956575393676758, 28.620223999023438, 26.759071350097656, 26.50275230407715, 26.206623077392578, 26.30281639099121, 26.423328399658203, 26.477951049804688, 26.477439880371094], "step_mean_ms": 26.774793434143067, "step_p50_ms": 26.490351676940918, "step_p95_ms": 27.90064182281494, "sample_ms": 267.74793434143066, "sample_ms_from_mean": 267.74793434143066, "output_transfer_ms": 0.07363967597484589, "total_ms": 388.83366994559765, "control_frequency_hz": 2.5717937444561105, "prefill_share": 0.27263260321970095, "sample_share": 0.6885924626303368, "other_share": 0.013726126222744245, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.388487949967384, "prefix_embed_ms": 51.1695671081543, "prefill_forward_ms": 56.386558532714844, "prefill_ms": 107.55612564086914, "step_ms": [26.98467254638672, 26.51296043395996, 26.25916862487793, 26.672639846801758, 26.243743896484375, 26.361087799072266, 26.12272071838379, 26.35491180419922, 26.376544952392578, 26.066495895385742], "step_mean_ms": 26.395494651794433, "step_p50_ms": 26.357999801635742, "step_p95_ms": 26.844257831573486, "sample_ms": 263.95494651794434, "sample_ms_from_mean": 263.95494651794434, "output_transfer_ms": 0.08105672895908356, "total_ms": 387.9696559160948, "control_frequency_hz": 2.57752116628489, "prefill_share": 0.27722819040293717, "sample_share": 0.6803494615955976, "other_share": 0.015436874990166938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.716944769024849, "prefix_embed_ms": 49.55625534057617, "prefill_forward_ms": 56.36812973022461, "prefill_ms": 105.92438507080078, "step_ms": [26.944992065429688, 26.513952255249023, 26.003263473510742, 26.48236846923828, 28.214719772338867, 28.022144317626953, 26.134687423706055, 26.203872680664062, 26.702911376953125, 26.280160903930664], "step_mean_ms": 26.750307273864745, "step_p50_ms": 26.498160362243652, "step_p95_ms": 28.128060817718506, "sample_ms": 267.50307273864746, "sample_ms_from_mean": 267.50307273864746, "output_transfer_ms": 0.07039867341518402, "total_ms": 388.18554766476154, "control_frequency_hz": 2.5760876622423967, "prefill_share": 0.2728705015115026, "sample_share": 0.6891113652939601, "other_share": 0.012805078506338476, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.77126881480217, "prefix_embed_ms": 50.00883102416992, "prefill_forward_ms": 57.816062927246094, "prefill_ms": 107.82489395141602, "step_ms": [26.49135971069336, 26.29363250732422, 26.152576446533203, 25.982175827026367, 26.391904830932617, 26.20172882080078, 26.22163200378418, 26.022335052490234, 26.13657569885254, 25.999679565429688], "step_mean_ms": 26.189360046386717, "step_p50_ms": 26.177152633666992, "step_p95_ms": 26.446605014801026, "sample_ms": 261.8936004638672, "sample_ms_from_mean": 261.8936004638672, "output_transfer_ms": 0.07154420018196106, "total_ms": 384.49944742023945, "control_frequency_hz": 2.6007839717570462, "prefill_share": 0.2804292559452461, "sample_share": 0.6811286783921696, "other_share": 0.012843035336211978, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.674688801169395, "prefix_embed_ms": 49.702720642089844, "prefill_forward_ms": 59.2250862121582, "prefill_ms": 108.92780685424805, "step_ms": [26.585792541503906, 26.350112915039062, 26.478656768798828, 26.097951889038086, 26.041919708251953, 26.10848045349121, 26.1661434173584, 26.238719940185547, 26.107391357421875, 26.365856170654297], "step_mean_ms": 26.254102516174317, "step_p50_ms": 26.202431678771973, "step_p95_ms": 26.53758144378662, "sample_ms": 262.54102516174316, "sample_ms_from_mean": 262.54102516174316, "output_transfer_ms": 0.07134675979614258, "total_ms": 386.2668499350548, "control_frequency_hz": 2.5888838251797575, "prefill_share": 0.2820014372772675, "sample_share": 0.6796882134873486, "other_share": 0.01307899541197348, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.879713878035545, "prefix_embed_ms": 49.102176666259766, "prefill_forward_ms": 59.19948959350586, "prefill_ms": 108.30166625976562, "step_ms": [26.40595245361328, 26.110944747924805, 26.48953628540039, 26.22777557373047, 26.625120162963867, 26.223552703857422, 26.094175338745117, 26.489120483398438, 26.561248779296875, 26.23695945739746], "step_mean_ms": 26.346438598632812, "step_p50_ms": 26.32145595550537, "step_p95_ms": 26.59637804031372, "sample_ms": 263.4643859863281, "sample_ms_from_mean": 263.4643859863281, "output_transfer_ms": 0.06969831883907318, "total_ms": 386.6309244185686, "control_frequency_hz": 2.5864459794669576, "prefill_share": 0.2801164092671431, "sample_share": 0.6814364018670691, "other_share": 0.012713571691121998, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.806042537093163, "prefix_embed_ms": 49.51299285888672, "prefill_forward_ms": 59.19027328491211, "prefill_ms": 108.70326614379883, "step_ms": [27.25062370300293, 26.060224533081055, 26.31279945373535, 26.63929557800293, 27.681407928466797, 26.80441665649414, 26.464128494262695, 26.517152786254883, 26.289087295532227, 26.526527404785156], "step_mean_ms": 26.654566383361818, "step_p50_ms": 26.52184009552002, "step_p95_ms": 27.487555027008057, "sample_ms": 266.54566383361816, "sample_ms_from_mean": 266.54566383361816, "output_transfer_ms": 0.07336027920246124, "total_ms": 390.18847420811653, "control_frequency_hz": 2.5628640159848124, "prefill_share": 0.2785916892199622, "sample_share": 0.6831202904559645, "other_share": 0.012968454346770289, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.788768365979195, "prefix_embed_ms": 49.927711486816406, "prefill_forward_ms": 57.56620788574219, "prefill_ms": 107.4939193725586, "step_ms": [26.83283233642578, 26.75372886657715, 26.8220157623291, 26.324352264404297, 26.483840942382812, 26.64771270751953, 25.991104125976562, 26.15670394897461, 26.278175354003906, 25.97270393371582], "step_mean_ms": 26.426317024230958, "step_p50_ms": 26.404096603393555, "step_p95_ms": 26.827964878082277, "sample_ms": 264.26317024230957, "sample_ms_from_mean": 264.26317024230957, "output_transfer_ms": 0.07233582437038422, "total_ms": 386.61759346723557, "control_frequency_hz": 2.5865351626444966, "prefill_share": 0.27803680222759525, "sample_share": 0.6835259820236425, "other_share": 0.01293112301792211, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.910615161061287, "prefix_embed_ms": 49.689151763916016, "prefill_forward_ms": 57.50166320800781, "prefill_ms": 107.19081497192383, "step_ms": [26.76006317138672, 26.184480667114258, 26.231775283813477, 26.19264030456543, 26.142431259155273, 26.097824096679688, 26.323423385620117, 26.068063735961914, 25.993375778198242, 26.106016159057617], "step_mean_ms": 26.210009384155274, "step_p50_ms": 26.163455963134766, "step_p95_ms": 26.563575267791748, "sample_ms": 262.10009384155273, "sample_ms_from_mean": 262.10009384155273, "output_transfer_ms": 0.0706501305103302, "total_ms": 384.28373634815216, "control_frequency_hz": 2.6022438771492094, "prefill_share": 0.2789366419473226, "sample_share": 0.6820483643994137, "other_share": 0.013041307162069492, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.74159874022007, "prefix_embed_ms": 49.50815963745117, "prefill_forward_ms": 56.997886657714844, "prefill_ms": 106.50604629516602, "step_ms": [26.952159881591797, 26.37468719482422, 26.16489601135254, 26.290847778320312, 26.412351608276367, 26.201087951660156, 26.088319778442383, 26.083520889282227, 27.069440841674805, 26.778656005859375], "step_mean_ms": 26.44159679412842, "step_p50_ms": 26.332767486572266, "step_p95_ms": 27.01666440963745, "sample_ms": 264.4159679412842, "sample_ms_from_mean": 264.4159679412842, "output_transfer_ms": 0.07238239049911499, "total_ms": 385.7472203671932, "control_frequency_hz": 2.5923712400263024, "prefill_share": 0.2761032113044983, "sample_share": 0.6854643506947019, "other_share": 0.012990955567362614, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.89522598683834, "prefix_embed_ms": 51.0417594909668, "prefill_forward_ms": 56.6743049621582, "prefill_ms": 107.716064453125, "step_ms": [26.66092872619629, 26.177152633666992, 26.02934455871582, 26.034656524658203, 26.175647735595703, 26.337696075439453, 26.154144287109375, 26.14009666442871, 26.236032485961914, 26.258527755737305], "step_mean_ms": 26.220422744750977, "step_p50_ms": 26.176400184631348, "step_p95_ms": 26.515474033355712, "sample_ms": 262.20422744750977, "sample_ms_from_mean": 262.20422744750977, "output_transfer_ms": 0.08856505155563354, "total_ms": 384.9287200719118, "control_frequency_hz": 2.5978835765052333, "prefill_share": 0.2798337947685526, "sample_share": 0.6811760561761283, "other_share": 0.013053422285415275, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.705847129225731, "prefix_embed_ms": 49.55827331542969, "prefill_forward_ms": 56.657920837402344, "prefill_ms": 106.21619415283203, "step_ms": [26.662111282348633, 26.317344665527344, 26.200159072875977, 26.411487579345703, 26.130016326904297, 26.127519607543945, 26.087007522583008, 25.993440628051758, 26.594816207885742, 26.423744201660156], "step_mean_ms": 26.294764709472656, "step_p50_ms": 26.25875186920166, "step_p95_ms": 26.63182849884033, "sample_ms": 262.94764709472656, "sample_ms_from_mean": 262.94764709472656, "output_transfer_ms": 0.07432512938976288, "total_ms": 383.9292787015438, "control_frequency_hz": 2.604646364512806, "prefill_share": 0.2766556239525603, "sample_share": 0.6848856330624759, "other_share": 0.012984852867251966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.273197665810585, "prefix_embed_ms": 50.73107147216797, "prefill_forward_ms": 56.68864059448242, "prefill_ms": 107.41971206665039, "step_ms": [27.162368774414062, 26.701087951660156, 27.215167999267578, 26.81340789794922, 28.6944637298584, 27.302976608276367, 26.97395133972168, 26.473920822143555, 26.460479736328125, 26.597280502319336], "step_mean_ms": 27.03951053619385, "step_p50_ms": 26.89367961883545, "step_p95_ms": 28.068294525146484, "sample_ms": 270.3951053619385, "sample_ms_from_mean": 270.3951053619385, "output_transfer_ms": 0.0819619745016098, "total_ms": 393.5486003756523, "control_frequency_hz": 2.540982229502212, "prefill_share": 0.27295157945960297, "sample_share": 0.6870691576690638, "other_share": 0.013666986241641354, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.254926979541779, "prefix_embed_ms": 50.40323257446289, "prefill_forward_ms": 56.44083023071289, "prefill_ms": 106.84406280517578, "step_ms": [27.969215393066406, 26.966943740844727, 26.498815536499023, 27.046079635620117, 27.122751235961914, 28.546207427978516, 26.855072021484375, 26.47808074951172, 26.58252716064453, 26.597824096679688], "step_mean_ms": 27.066351699829102, "step_p50_ms": 26.91100788116455, "step_p95_ms": 28.286561012268066, "sample_ms": 270.663516998291, "sample_ms_from_mean": 270.663516998291, "output_transfer_ms": 0.07248856127262115, "total_ms": 393.1646663695574, "control_frequency_hz": 2.543463554937168, "prefill_share": 0.27175397980638244, "sample_share": 0.6884227911362698, "other_share": 0.013555824012594584, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.467104613780975, "prefix_embed_ms": 50.276641845703125, "prefill_forward_ms": 56.4664306640625, "prefill_ms": 106.74307250976562, "step_ms": [24.287071228027344, 21.887136459350586, 21.952287673950195, 21.92799949645996, 21.77952003479004, 22.084640502929688, 21.816896438598633, 21.583616256713867, 21.703168869018555, 22.222623825073242], "step_mean_ms": 22.124496078491212, "step_p50_ms": 21.907567977905273, "step_p95_ms": 23.358069896697994, "sample_ms": 221.2449607849121, "sample_ms_from_mean": 221.2449607849121, "output_transfer_ms": 0.07564947009086609, "total_ms": 344.91015784442425, "control_frequency_hz": 2.8993057387746224, "prefill_share": 0.30948080270199907, "sample_share": 0.641456784478662, "other_share": 0.01849574540147977, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.511977598071098, "prefix_embed_ms": 43.81843185424805, "prefill_forward_ms": 56.190975189208984, "prefill_ms": 100.00940704345703, "step_ms": [22.86854362487793, 22.799264907836914, 21.984447479248047, 21.80905532836914, 21.846303939819336, 22.36992073059082, 21.92950439453125, 22.28803253173828, 21.98249626159668, 21.79916763305664], "step_mean_ms": 22.167673683166505, "step_p50_ms": 21.983471870422363, "step_p95_ms": 22.837368202209472, "sample_ms": 221.67673683166504, "sample_ms_from_mean": 221.67673683166504, "output_transfer_ms": 0.08290447294712067, "total_ms": 337.95155212283134, "control_frequency_hz": 2.959004016163067, "prefill_share": 0.2959282370956763, "sample_share": 0.6559423545748201, "other_share": 0.016779109730586633, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.46436296403408, "prefix_embed_ms": 45.16223907470703, "prefill_forward_ms": 56.006656646728516, "prefill_ms": 101.16889572143555, "step_ms": [23.271488189697266, 22.079103469848633, 21.899168014526367, 21.669023513793945, 21.200096130371094, 21.807743072509766, 21.306943893432617, 24.010303497314453, 22.142976760864258, 22.68889617919922], "step_mean_ms": 22.20757427215576, "step_p50_ms": 21.9891357421875, "step_p95_ms": 23.677836608886718, "sample_ms": 222.07574272155762, "sample_ms_from_mean": 222.07574272155762, "output_transfer_ms": 0.10040588676929474, "total_ms": 340.6149838119745, "control_frequency_hz": 2.935866146605041, "prefill_share": 0.29701833603797817, "sample_share": 0.6519846550383918, "other_share": 0.017044395561243913, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.06179691851139, "prefix_embed_ms": 43.522369384765625, "prefill_forward_ms": 55.397377014160156, "prefill_ms": 98.91974639892578, "step_ms": [22.917760848999023, 21.948959350585938, 22.229856491088867, 25.073631286621094, 22.57756805419922, 22.303871154785156, 22.18217658996582, 22.826847076416016, 22.573823928833008, 22.3110408782959], "step_mean_ms": 22.694553565979003, "step_p50_ms": 22.442432403564453, "step_p95_ms": 24.10348958969116, "sample_ms": 226.94553565979004, "sample_ms_from_mean": 226.94553565979004, "output_transfer_ms": 0.08081085979938507, "total_ms": 343.0719319730997, "control_frequency_hz": 2.914840611555509, "prefill_share": 0.2883352940883607, "sample_share": 0.661510063952375, "other_share": 0.017675716288409728, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.651416912674904, "prefix_embed_ms": 39.105918884277344, "prefill_forward_ms": 58.633216857910156, "prefill_ms": 97.7391357421875, "step_ms": [32.17536163330078, 31.886655807495117, 30.86662483215332, 27.395967483520508, 20.260927200317383, 19.892608642578125, 19.99465560913086, 20.395103454589844, 20.098751068115234, 19.98627281188965], "step_mean_ms": 24.295292854309082, "step_p50_ms": 20.328015327453613, "step_p95_ms": 32.04544401168823, "sample_ms": 242.95292854309082, "sample_ms_from_mean": 242.95292854309082, "output_transfer_ms": 0.06825104355812073, "total_ms": 355.5695805698633, "control_frequency_hz": 2.812389064321314, "prefill_share": 0.2748804765175446, "sample_share": 0.6832781593794263, "other_share": 0.014505876234085063, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.178590193390846, "prefix_embed_ms": 40.66057586669922, "prefill_forward_ms": 56.91392135620117, "prefill_ms": 97.57449722290039, "step_ms": [25.823104858398438, 20.07548713684082, 19.904159545898438, 20.184640884399414, 19.937952041625977, 19.896671295166016, 22.74095916748047, 19.97225570678711, 19.746591567993164, 20.813919067382812], "step_mean_ms": 20.909574127197267, "step_p50_ms": 20.023871421813965, "step_p95_ms": 24.436139297485347, "sample_ms": 209.09574127197266, "sample_ms_from_mean": 209.09574127197266, "output_transfer_ms": 0.06922148168087006, "total_ms": 321.8262046575546, "control_frequency_hz": 3.1072671694465317, "prefill_share": 0.30319003179597015, "sample_share": 0.6497163321254869, "other_share": 0.015250947301921792, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.915314614772797, "prefix_embed_ms": 38.77648162841797, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.81443405151367, "step_ms": [20.295808792114258, 19.862815856933594, 19.673696517944336, 19.73321533203125, 19.82419204711914, 20.127647399902344, 21.82489585876465, 19.6823673248291, 19.694528579711914, 19.810144424438477], "step_mean_ms": 20.052931213378905, "step_p50_ms": 19.81716823577881, "step_p95_ms": 21.136806678771972, "sample_ms": 200.52931213378906, "sample_ms_from_mean": 200.52931213378906, "output_transfer_ms": 0.058455392718315125, "total_ms": 309.44691225886345, "control_frequency_hz": 3.2315720738666287, "prefill_share": 0.3031681052064741, "sample_share": 0.6480249250832372, "other_share": 0.016576013082911872, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.444411844015121, "prefix_embed_ms": 37.84681701660156, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 92.88988876342773, "step_ms": [22.542015075683594, 19.794368743896484, 19.79769515991211, 19.64080047607422, 20.216800689697266, 19.906496047973633, 19.680639266967773, 19.98627281188965, 21.261056900024414, 19.940767288208008], "step_mean_ms": 20.276691246032716, "step_p50_ms": 19.92363166809082, "step_p95_ms": 21.96558389663696, "sample_ms": 202.76691246032715, "sample_ms_from_mean": 202.76691246032715, "output_transfer_ms": 0.06611645221710205, "total_ms": 309.5616512000561, "control_frequency_hz": 3.2303742925629506, "prefill_share": 0.30006910870040904, "sample_share": 0.655013021394203, "other_share": 0.014195303788546835, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.213487014174461, "prefix_embed_ms": 39.55062484741211, "prefill_forward_ms": 55.09324645996094, "prefill_ms": 94.64387130737305, "step_ms": [21.404640197753906, 21.322240829467773, 20.458463668823242, 20.473312377929688, 20.127552032470703, 19.918304443359375, 19.759424209594727, 23.327295303344727, 20.019487380981445, 19.880735397338867], "step_mean_ms": 20.669145584106445, "step_p50_ms": 20.293007850646973, "step_p95_ms": 22.462100505828854, "sample_ms": 206.69145584106445, "sample_ms_from_mean": 206.69145584106445, "output_transfer_ms": 0.07946044206619263, "total_ms": 317.60487146675587, "control_frequency_hz": 3.1485663156922685, "prefill_share": 0.2979925051851088, "sample_share": 0.6507817556025715, "other_share": 0.01566914524671773, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.54127886891365, "prefix_embed_ms": 38.55868911743164, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 93.66115188598633, "step_ms": [20.981151580810547, 21.493824005126953, 19.80803108215332, 19.73459243774414, 19.766624450683594, 19.700000762939453, 19.787647247314453, 19.812000274658203, 20.1409912109375, 19.714080810546875], "step_mean_ms": 20.093894386291502, "step_p50_ms": 19.797839164733887, "step_p95_ms": 21.26312141418457, "sample_ms": 200.93894386291504, "sample_ms_from_mean": 200.93894386291504, "output_transfer_ms": 0.06205029785633087, "total_ms": 309.80932526290417, "control_frequency_hz": 3.227791801138975, "prefill_share": 0.3023186981428189, "sample_share": 0.6485890755302419, "other_share": 0.01486688737766125, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.106859728693962, "prefix_embed_ms": 38.216094970703125, "prefill_forward_ms": 55.030784606933594, "prefill_ms": 93.24687957763672, "step_ms": [20.178688049316406, 19.964479446411133, 19.768512725830078, 19.736896514892578, 19.838048934936523, 19.858911514282227, 19.89311981201172, 21.597919464111328, 21.23311996459961, 20.893888473510742], "step_mean_ms": 20.296358489990233, "step_p50_ms": 19.928799629211426, "step_p95_ms": 21.433759689331055, "sample_ms": 202.96358489990234, "sample_ms_from_mean": 202.96358489990234, "output_transfer_ms": 0.06595440208911896, "total_ms": 311.14113330841064, "control_frequency_hz": 3.2139755659010723, "prefill_share": 0.2996931925590441, "sample_share": 0.6523200026359739, "other_share": 0.015291628752192015, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.394278913736343, "prefix_embed_ms": 38.37187194824219, "prefill_forward_ms": 55.040000915527344, "prefill_ms": 93.41187286376953, "step_ms": [20.13257598876953, 21.457120895385742, 20.24870491027832, 20.37334442138672, 20.38572883605957, 20.269760131835938, 19.856735229492188, 20.058496475219727, 19.814624786376953, 20.280000686645508], "step_mean_ms": 20.28770923614502, "step_p50_ms": 20.25923252105713, "step_p95_ms": 20.974994468688962, "sample_ms": 202.8770923614502, "sample_ms_from_mean": 202.8770923614502, "output_transfer_ms": 0.06462261080741882, "total_ms": 311.94946356117725, "control_frequency_hz": 3.205647442326463, "prefill_share": 0.2994455313286675, "sample_share": 0.6503524322351124, "other_share": 0.01667448551452202, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.759292006492615, "prefix_embed_ms": 41.66988754272461, "prefill_forward_ms": 55.13731384277344, "prefill_ms": 96.80720138549805, "step_ms": [20.239072799682617, 19.750751495361328, 20.055423736572266, 19.79897689819336, 19.85296058654785, 19.614912033081055, 19.6342716217041, 22.60211181640625, 19.830303192138672, 19.65817642211914], "step_mean_ms": 20.103696060180663, "step_p50_ms": 19.814640045166016, "step_p95_ms": 21.538744258880612, "sample_ms": 201.03696060180664, "sample_ms_from_mean": 201.03696060180664, "output_transfer_ms": 0.05905516445636749, "total_ms": 312.07949481904507, "control_frequency_hz": 3.2043117750489696, "prefill_share": 0.3102004553090883, "sample_share": 0.6441851000764248, "other_share": 0.014153399163096327, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.790459647774696, "prefix_embed_ms": 40.017696380615234, "prefill_forward_ms": 55.186431884765625, "prefill_ms": 95.20412826538086, "step_ms": [20.491199493408203, 20.835744857788086, 19.95849609375, 20.243711471557617, 19.773536682128906, 20.201791763305664, 20.348512649536133, 20.42336082458496, 20.528064727783203, 20.405792236328125], "step_mean_ms": 20.32102108001709, "step_p50_ms": 20.37715244293213, "step_p95_ms": 20.69728879928589, "sample_ms": 203.2102108001709, "sample_ms_from_mean": 203.2102108001709, "output_transfer_ms": 0.06403960287570953, "total_ms": 312.78364174067974, "control_frequency_hz": 3.197098142456799, "prefill_share": 0.30437694163146795, "sample_share": 0.6496829874774809, "other_share": 0.014434269641954855, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.001247748732567, "prefix_embed_ms": 41.554527282714844, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 96.6283187866211, "step_ms": [20.054912567138672, 19.671903610229492, 19.73161506652832, 20.604799270629883, 20.665376663208008, 21.97056007385254, 19.899808883666992, 19.666656494140625, 19.57302474975586, 19.624927520751953], "step_mean_ms": 20.146358489990234, "step_p50_ms": 19.815711975097656, "step_p95_ms": 21.3832275390625, "sample_ms": 201.46358489990234, "sample_ms_from_mean": 201.46358489990234, "output_transfer_ms": 0.05646049976348877, "total_ms": 312.52226047217846, "control_frequency_hz": 3.199772069001218, "prefill_share": 0.30918859552797584, "sample_share": 0.6446375518835631, "other_share": 0.013991478656760294, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.77550819516182, "prefix_embed_ms": 38.55267333984375, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.62646484375, "step_ms": [20.29465675354004, 19.7989444732666, 19.862943649291992, 20.759647369384766, 19.94393539428711, 20.275392532348633, 19.957984924316406, 20.546144485473633, 21.17635154724121, 21.53615951538086], "step_mean_ms": 20.415216064453126, "step_p50_ms": 20.285024642944336, "step_p95_ms": 21.37424592971802, "sample_ms": 204.15216064453125, "sample_ms_from_mean": 204.15216064453125, "output_transfer_ms": 0.06611086428165436, "total_ms": 312.2507557272911, "control_frequency_hz": 3.2025542986143005, "prefill_share": 0.29984383744941223, "sample_share": 0.6538083796435408, "other_share": 0.014829463482901895, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.045977309346199, "prefix_embed_ms": 41.31206512451172, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 96.38585662841797, "step_ms": [22.175167083740234, 20.875839233398438, 19.971935272216797, 20.09756851196289, 20.880096435546875, 20.099552154541016, 20.0930233001709, 20.12451171875, 20.165760040283203, 20.253503799438477], "step_mean_ms": 20.473695755004883, "step_p50_ms": 20.1451358795166, "step_p95_ms": 21.592385292053223, "sample_ms": 204.73695755004883, "sample_ms_from_mean": 204.73695755004883, "output_transfer_ms": 0.06680190563201904, "total_ms": 315.88510796427727, "control_frequency_hz": 3.1657079576954534, "prefill_share": 0.3051294733378758, "sample_share": 0.6481374157505458, "other_share": 0.014719005276304624, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.717611595988274, "prefix_embed_ms": 39.109344482421875, "prefill_forward_ms": 55.11475372314453, "prefill_ms": 94.2240982055664, "step_ms": [20.838464736938477, 20.231327056884766, 20.231103897094727, 20.129728317260742, 20.267200469970703, 20.238752365112305, 20.778879165649414, 20.32499122619629, 19.827295303344727, 19.734079360961914], "step_mean_ms": 20.260182189941407, "step_p50_ms": 20.235039710998535, "step_p95_ms": 20.8116512298584, "sample_ms": 202.60182189941406, "sample_ms_from_mean": 202.60182189941406, "output_transfer_ms": 0.061793252825737, "total_ms": 311.16062961518764, "control_frequency_hz": 3.2137741887098636, "prefill_share": 0.3028149747675127, "sample_share": 0.6511165058059297, "other_share": 0.01463972054249508, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.668638929724693, "prefix_embed_ms": 39.583518981933594, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 94.65423965454102, "step_ms": [21.112031936645508, 20.17344093322754, 19.59542465209961, 19.578048706054688, 19.709856033325195, 19.858463287353516, 19.835935592651367, 20.559328079223633, 19.98931121826172, 19.67705535888672], "step_mean_ms": 20.008889579772948, "step_p50_ms": 19.84719944000244, "step_p95_ms": 20.863315200805662, "sample_ms": 200.0888957977295, "sample_ms_from_mean": 200.0888957977295, "output_transfer_ms": 0.07179751992225647, "total_ms": 309.26225520670414, "control_frequency_hz": 3.2335016096019276, "prefill_share": 0.306064636278605, "sample_share": 0.6469877666254307, "other_share": 0.015451880157805596, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.449044406414032, "prefix_embed_ms": 39.06256103515625, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 94.13533020019531, "step_ms": [20.929920196533203, 19.67411231994629, 19.819072723388672, 19.533279418945312, 19.57360076904297, 19.568256378173828, 19.552576065063477, 19.634368896484375, 19.604543685913086, 19.750816345214844], "step_mean_ms": 19.764054679870604, "step_p50_ms": 19.61945629119873, "step_p95_ms": 20.430038833618163, "sample_ms": 197.64054679870605, "sample_ms_from_mean": 197.64054679870605, "output_transfer_ms": 0.07623806595802307, "total_ms": 307.80624598264694, "control_frequency_hz": 3.2487969722887837, "prefill_share": 0.30582657573979943, "sample_share": 0.6420940100411359, "other_share": 0.017884908390338114, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.889775887131691, "prefix_embed_ms": 38.573726654052734, "prefill_forward_ms": 55.27446365356445, "prefill_ms": 93.84819030761719, "step_ms": [20.275615692138672, 20.21459197998047, 20.083168029785156, 20.279808044433594, 20.36524772644043, 20.622783660888672, 20.39676856994629, 21.03183937072754, 20.8220157623291, 20.7938232421875], "step_mean_ms": 20.488566207885743, "step_p50_ms": 20.38100814819336, "step_p95_ms": 20.937418746948243, "sample_ms": 204.88566207885742, "sample_ms_from_mean": 204.88566207885742, "output_transfer_ms": 0.06849318742752075, "total_ms": 313.2996689528227, "control_frequency_hz": 3.191832290606672, "prefill_share": 0.29954768423885264, "sample_share": 0.653960672105624, "other_share": 0.014706518864795475, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.655861347913742, "prefix_embed_ms": 40.8438720703125, "prefill_forward_ms": 55.032833099365234, "prefill_ms": 95.87670516967773, "step_ms": [20.88128089904785, 19.873632431030273, 20.113792419433594, 20.329120635986328, 20.238752365112305, 19.618431091308594, 19.48966407775879, 19.675071716308594, 20.374719619750977, 20.641887664794922], "step_mean_ms": 20.123635292053223, "step_p50_ms": 20.17627239227295, "step_p95_ms": 20.773553943634035, "sample_ms": 201.23635292053223, "sample_ms_from_mean": 201.23635292053223, "output_transfer_ms": 0.06321631371974945, "total_ms": 312.290171161294, "control_frequency_hz": 3.2021500909918568, "prefill_share": 0.307011600183083, "sample_share": 0.6443890058153516, "other_share": 0.014275298492016936, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.070791468024254, "prefix_embed_ms": 40.376319885253906, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 95.42963027954102, "step_ms": [21.1474552154541, 20.31612777709961, 20.26803207397461, 20.44879913330078, 19.833311080932617, 19.914688110351562, 20.484447479248047, 20.201248168945312, 19.9638729095459, 20.225919723510742], "step_mean_ms": 20.280390167236327, "step_p50_ms": 20.246975898742676, "step_p95_ms": 20.849101734161376, "sample_ms": 202.80390167236328, "sample_ms_from_mean": 202.80390167236328, "output_transfer_ms": 0.06801635026931763, "total_ms": 312.7763569355011, "control_frequency_hz": 3.1971726053648424, "prefill_share": 0.30510499966984383, "sample_share": 0.6483990786879851, "other_share": 0.014080403034464017, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.066324844956398, "prefix_embed_ms": 40.19705581665039, "prefill_forward_ms": 55.17923355102539, "prefill_ms": 95.37628936767578, "step_ms": [20.133472442626953, 20.29897689819336, 20.852767944335938, 20.48374366760254, 20.74166488647461, 20.77190399169922, 20.975231170654297, 21.283967971801758, 21.39027214050293, 20.82579231262207], "step_mean_ms": 20.77577934265137, "step_p50_ms": 20.798848152160645, "step_p95_ms": 21.3424352645874, "sample_ms": 207.75779342651367, "sample_ms_from_mean": 207.75779342651367, "output_transfer_ms": 0.08362345397472382, "total_ms": 317.9148957133293, "control_frequency_hz": 3.145495896806677, "prefill_share": 0.30000572685867044, "sample_share": 0.653501286752708, "other_share": 0.014566365661533803, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.779116302728653, "prefix_embed_ms": 42.31206512451172, "prefill_forward_ms": 55.175167083740234, "prefill_ms": 97.48723220825195, "step_ms": [20.64566421508789, 20.035968780517578, 20.170944213867188, 20.13167953491211, 20.22742462158203, 20.16761589050293, 20.542240142822266, 20.022335052490234, 20.199167251586914, 20.26348876953125], "step_mean_ms": 20.24065284729004, "step_p50_ms": 20.18505573272705, "step_p95_ms": 20.599123382568358, "sample_ms": 202.4065284729004, "sample_ms_from_mean": 202.4065284729004, "output_transfer_ms": 0.07920898497104645, "total_ms": 315.48138707876205, "control_frequency_hz": 3.1697591076913305, "prefill_share": 0.3090110421757262, "sample_share": 0.6415799370831606, "other_share": 0.014990745266151975, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.752964600920677, "prefix_embed_ms": 39.420799255371094, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 94.48025512695312, "step_ms": [20.59609603881836, 20.695552825927734, 20.56617546081543, 20.238784790039062, 20.542207717895508, 20.269472122192383, 20.186111450195312, 19.825471878051758, 20.20956802368164, 20.12665557861328], "step_mean_ms": 20.325609588623045, "step_p50_ms": 20.254128456115723, "step_p95_ms": 20.650797271728514, "sample_ms": 203.25609588623047, "sample_ms_from_mean": 203.25609588623047, "output_transfer_ms": 0.06963685154914856, "total_ms": 311.8965532630682, "control_frequency_hz": 3.2061912500730747, "prefill_share": 0.30292176729270887, "sample_share": 0.651677916154446, "other_share": 0.013907177722981258, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.745655581355095, "prefix_embed_ms": 39.358367919921875, "prefill_forward_ms": 55.01747131347656, "prefill_ms": 94.37583923339844, "step_ms": [20.910655975341797, 20.169248580932617, 20.4171199798584, 19.876480102539062, 19.715200424194336, 19.89801597595215, 19.888704299926758, 19.782880783081055, 20.062496185302734, 19.6375675201416], "step_mean_ms": 20.03583698272705, "step_p50_ms": 19.893360137939453, "step_p95_ms": 20.688564777374268, "sample_ms": 200.3583698272705, "sample_ms_from_mean": 200.3583698272705, "output_transfer_ms": 0.061668455600738525, "total_ms": 308.91090631484985, "control_frequency_hz": 3.2371793276239154, "prefill_share": 0.3055115157935155, "sample_share": 0.6485959729212674, "other_share": 0.014144444653474612, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.798260405659676, "prefix_embed_ms": 38.187808990478516, "prefill_forward_ms": 55.26835250854492, "prefill_ms": 93.45616149902344, "step_ms": [20.062623977661133, 20.280960083007812, 20.336191177368164, 20.079200744628906, 19.852319717407227, 19.723648071289062, 19.488191604614258, 19.67215919494629, 19.748512268066406, 19.60416030883789], "step_mean_ms": 19.884796714782716, "step_p50_ms": 19.800415992736816, "step_p95_ms": 20.311337184906005, "sample_ms": 198.84796714782715, "sample_ms_from_mean": 198.84796714782715, "output_transfer_ms": 0.0605117529630661, "total_ms": 306.4706511795521, "control_frequency_hz": 3.262955183966799, "prefill_share": 0.3049432666368769, "sample_share": 0.6488320052262623, "other_share": 0.014055996414335177, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.44884866476059, "prefix_embed_ms": 38.32486343383789, "prefill_forward_ms": 55.29087829589844, "prefill_ms": 93.61574172973633, "step_ms": [20.315616607666016, 19.822175979614258, 19.698528289794922, 19.726144790649414, 19.679264068603516, 19.72547149658203, 19.873567581176758, 19.71401596069336, 20.11907196044922, 19.671520233154297], "step_mean_ms": 19.834537696838378, "step_p50_ms": 19.725808143615723, "step_p95_ms": 20.22717151641846, "sample_ms": 198.3453769683838, "sample_ms_from_mean": 198.3453769683838, "output_transfer_ms": 0.06617605686187744, "total_ms": 305.765125900507, "control_frequency_hz": 3.2704841569322407, "prefill_share": 0.3061688001665631, "sample_share": 0.6486854129758521, "other_share": 0.014027049252699873, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.73416492342949, "prefix_embed_ms": 37.91737747192383, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 92.97171401977539, "step_ms": [19.900896072387695, 19.624191284179688, 19.615264892578125, 19.983327865600586, 19.79964828491211, 19.501344680786133, 19.862943649291992, 19.754688262939453, 19.76518440246582, 19.8255672454834], "step_mean_ms": 19.7633056640625, "step_p50_ms": 19.782416343688965, "step_p95_ms": 19.946233558654786, "sample_ms": 197.633056640625, "sample_ms_from_mean": 197.633056640625, "output_transfer_ms": 0.0613722950220108, "total_ms": 304.6485651284456, "control_frequency_hz": 3.282470736661376, "prefill_share": 0.3051769306071629, "sample_share": 0.6487247250197917, "other_share": 0.013944780103600975, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.863616898655891, "prefix_embed_ms": 38.32156753540039, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 93.39228820800781, "step_ms": [20.19455909729004, 19.707456588745117, 19.731168746948242, 19.817184448242188, 19.98102378845215, 19.824127197265625, 19.82374382019043, 19.875648498535156, 19.769887924194336, 20.072223663330078], "step_mean_ms": 19.879702377319337, "step_p50_ms": 19.823935508728027, "step_p95_ms": 20.139508152008055, "sample_ms": 198.79702377319336, "sample_ms_from_mean": 198.79702377319336, "output_transfer_ms": 0.05991198122501373, "total_ms": 307.1941193193197, "control_frequency_hz": 3.255270648460975, "prefill_share": 0.30401717459613586, "sample_share": 0.647138116490275, "other_share": 0.01654093662175805, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.937908500432968, "prefix_embed_ms": 37.89833450317383, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 93.02230072021484, "step_ms": [21.33443260192871, 21.035327911376953, 21.824800491333008, 21.696672439575195, 23.408832550048828, 22.09702491760254, 21.68227195739746, 20.631359100341797, 20.927936553955078, 20.66854476928711], "step_mean_ms": 21.53072032928467, "step_p50_ms": 21.508352279663086, "step_p95_ms": 22.818519115447998, "sample_ms": 215.30720329284668, "sample_ms_from_mean": 215.30720329284668, "output_transfer_ms": 0.06650015711784363, "total_ms": 323.0068255215883, "control_frequency_hz": 3.0959098105286462, "prefill_share": 0.2879886533976591, "sample_share": 0.6665716829518097, "other_share": 0.014466916739081953, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.422706604003906, "prefix_embed_ms": 39.39363098144531, "prefill_forward_ms": 55.11167907714844, "prefill_ms": 94.50531005859375, "step_ms": [20.538816452026367, 19.57263946533203, 19.736671447753906, 19.62041664123535, 19.766464233398438, 19.748960494995117, 19.485567092895508, 19.64633560180664, 19.71990394592285, 20.670879364013672], "step_mean_ms": 19.850665473937987, "step_p50_ms": 19.72828769683838, "step_p95_ms": 20.611451053619383, "sample_ms": 198.50665473937988, "sample_ms_from_mean": 198.50665473937988, "output_transfer_ms": 0.06319023668766022, "total_ms": 308.16569551825523, "control_frequency_hz": 3.2450075220678207, "prefill_share": 0.30667044201548843, "sample_share": 0.6441555878098075, "other_share": 0.015147156051032682, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.514898225665092, "prefix_embed_ms": 38.46847915649414, "prefill_forward_ms": 55.12192153930664, "prefill_ms": 93.59040069580078, "step_ms": [20.865280151367188, 20.299903869628906, 20.357664108276367, 20.122751235961914, 20.655807495117188, 20.25276756286621, 20.771648406982422, 20.408863067626953, 20.443456649780273, 20.192703247070312], "step_mean_ms": 20.437084579467772, "step_p50_ms": 20.38326358795166, "step_p95_ms": 20.823145866394043, "sample_ms": 204.37084579467773, "sample_ms_from_mean": 204.37084579467773, "output_transfer_ms": 0.06203353404998779, "total_ms": 313.21519799530506, "control_frequency_hz": 3.1926930953554478, "prefill_share": 0.29880542609303284, "sample_share": 0.6524933882606205, "other_share": 0.014932288647058473, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.668037459254265, "prefix_embed_ms": 42.19145584106445, "prefill_forward_ms": 55.14137649536133, "prefill_ms": 97.33283233642578, "step_ms": [21.971904754638672, 21.90982437133789, 20.673152923583984, 19.97635269165039, 19.84409523010254, 19.81862449645996, 19.60652732849121, 19.689472198486328, 19.61302375793457, 19.476160049438477], "step_mean_ms": 20.2579137802124, "step_p50_ms": 19.83135986328125, "step_p95_ms": 21.94396858215332, "sample_ms": 202.57913780212402, "sample_ms_from_mean": 202.57913780212402, "output_transfer_ms": 0.06235763430595398, "total_ms": 315.12326933443546, "control_frequency_hz": 3.173361339237425, "prefill_share": 0.30887224717489187, "sample_share": 0.6428568040373113, "other_share": 0.01421952784314993, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.12948527932167, "prefix_embed_ms": 38.23183822631836, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 93.280029296875, "step_ms": [20.761568069458008, 19.812992095947266, 19.811487197875977, 19.772960662841797, 19.69481658935547, 20.040224075317383, 19.808000564575195, 19.829727172851562, 19.916255950927734, 19.767168045043945], "step_mean_ms": 19.921520042419434, "step_p50_ms": 19.81223964691162, "step_p95_ms": 20.436963272094726, "sample_ms": 199.21520042419434, "sample_ms_from_mean": 199.21520042419434, "output_transfer_ms": 0.06058625876903534, "total_ms": 307.7193032950163, "control_frequency_hz": 3.249714883961248, "prefill_share": 0.303133499582396, "sample_share": 0.6473926019298275, "other_share": 0.01635907134181327, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.256528854370117, "prefix_embed_ms": 39.566558837890625, "prefill_forward_ms": 55.13011169433594, "prefill_ms": 94.69667053222656, "step_ms": [20.150943756103516, 19.83020782470703, 19.694368362426758, 20.382495880126953, 19.717632293701172, 19.581600189208984, 19.595487594604492, 19.654111862182617, 19.677471160888672, 19.920671463012695], "step_mean_ms": 19.82049903869629, "step_p50_ms": 19.706000328063965, "step_p95_ms": 20.278297424316406, "sample_ms": 198.2049903869629, "sample_ms_from_mean": 198.2049903869629, "output_transfer_ms": 0.06537698209285736, "total_ms": 307.57394060492516, "control_frequency_hz": 3.2512507335089462, "prefill_share": 0.3078826195287566, "sample_share": 0.6444141203807467, "other_share": 0.014144156168486095, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.069092735648155, "prefix_embed_ms": 38.02140808105469, "prefill_forward_ms": 55.058433532714844, "prefill_ms": 93.07984161376953, "step_ms": [20.179840087890625, 19.903871536254883, 19.621023178100586, 19.63702392578125, 20.003551483154297, 19.665952682495117, 20.090591430664062, 19.931392669677734, 19.784128189086914, 19.81443214416504], "step_mean_ms": 19.863180732727052, "step_p50_ms": 19.85915184020996, "step_p95_ms": 20.13967819213867, "sample_ms": 198.6318073272705, "sample_ms_from_mean": 198.6318073272705, "output_transfer_ms": 0.06348080933094025, "total_ms": 306.13331869244576, "control_frequency_hz": 3.26655067887152, "prefill_share": 0.3040500198127124, "sample_share": 0.6488408650703724, "other_share": 0.014010550124848137, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.255062952637672, "prefix_embed_ms": 38.088993072509766, "prefill_forward_ms": 55.03180694580078, "prefill_ms": 93.12080001831055, "step_ms": [20.16873550415039, 19.650144577026367, 19.782272338867188, 19.922847747802734, 19.774208068847656, 19.690752029418945, 19.50704002380371, 19.82454490661621, 19.519264221191406, 19.718528747558594], "step_mean_ms": 19.75583381652832, "step_p50_ms": 19.746368408203125, "step_p95_ms": 20.058086013793947, "sample_ms": 197.5583381652832, "sample_ms_from_mean": 197.5583381652832, "output_transfer_ms": 0.05984306335449219, "total_ms": 305.25998026132584, "control_frequency_hz": 3.275896169369872, "prefill_share": 0.30505407206864144, "sample_share": 0.647180603222729, "other_share": 0.013974763603430607, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.933682158589363, "prefix_embed_ms": 38.04777526855469, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.111328125, "step_ms": [20.23356819152832, 20.01692771911621, 19.959007263183594, 19.90233612060547, 19.74073600769043, 19.860576629638672, 19.715871810913086, 19.87334442138672, 19.905855178833008, 19.626848220825195], "step_mean_ms": 19.88350715637207, "step_p50_ms": 19.887840270996094, "step_p95_ms": 20.13607997894287, "sample_ms": 198.8350715637207, "sample_ms_from_mean": 198.8350715637207, "output_transfer_ms": 0.059567391872406006, "total_ms": 306.22791685163975, "control_frequency_hz": 3.265541594904545, "prefill_share": 0.3040589149489929, "sample_share": 0.6493041967171518, "other_share": 0.014003516258561235, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.209890082478523, "prefix_embed_ms": 38.074527740478516, "prefill_forward_ms": 55.034881591796875, "prefill_ms": 93.10940933227539, "step_ms": [20.828128814697266, 19.92473602294922, 20.43155288696289, 19.964000701904297, 19.627328872680664, 19.713119506835938, 19.711423873901367, 19.67830467224121, 19.764223098754883, 19.997663497924805], "step_mean_ms": 19.964048194885255, "step_p50_ms": 19.84447956085205, "step_p95_ms": 20.649669647216797, "sample_ms": 199.64048194885254, "sample_ms_from_mean": 199.64048194885254, "output_transfer_ms": 0.07050111889839172, "total_ms": 307.3921240866184, "control_frequency_hz": 3.253173785669978, "prefill_share": 0.3029010896389739, "sample_share": 0.6494651824345274, "other_share": 0.014189828763746979, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.264415293931961, "prefix_embed_ms": 39.090049743652344, "prefill_forward_ms": 55.188480377197266, "prefill_ms": 94.27853012084961, "step_ms": [20.640031814575195, 20.138656616210938, 20.93324851989746, 20.400480270385742, 19.904767990112305, 20.03308868408203, 21.094783782958984, 21.53718376159668, 20.8701114654541, 20.383840560913086], "step_mean_ms": 20.593619346618652, "step_p50_ms": 20.52025604248047, "step_p95_ms": 21.338103771209717, "sample_ms": 205.93619346618652, "sample_ms_from_mean": 205.93619346618652, "output_transfer_ms": 0.08391030132770538, "total_ms": 315.3450321406126, "control_frequency_hz": 3.1711297089788912, "prefill_share": 0.2989694477850875, "sample_share": 0.6530503812546488, "other_share": 0.015164288226949181, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.181175708770752, "prefix_embed_ms": 43.15526580810547, "prefill_forward_ms": 55.202816009521484, "prefill_ms": 98.35808181762695, "step_ms": [21.43440055847168, 20.14499282836914, 20.11942481994629, 19.84342384338379, 20.04262351989746, 21.292224884033203, 19.988895416259766, 19.958175659179688, 20.2142391204834, 19.98512077331543], "step_mean_ms": 20.302352142333984, "step_p50_ms": 20.081024169921875, "step_p95_ms": 21.370421504974367, "sample_ms": 203.02352142333984, "sample_ms_from_mean": 203.02352142333984, "output_transfer_ms": 0.06105564534664154, "total_ms": 317.43093207478523, "control_frequency_hz": 3.1502916034799178, "prefill_share": 0.30985663928446094, "sample_share": 0.6395832948488727, "other_share": 0.015143758827411667, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.634742677211761, "prefix_embed_ms": 39.5082893371582, "prefill_forward_ms": 55.13011169433594, "prefill_ms": 94.63840103149414, "step_ms": [20.449119567871094, 19.945568084716797, 21.230527877807617, 20.356767654418945, 20.190752029418945, 21.540735244750977, 20.063232421875, 20.281471252441406, 20.27782440185547, 19.851423263549805], "step_mean_ms": 20.418742179870605, "step_p50_ms": 20.279647827148438, "step_p95_ms": 21.401141929626466, "sample_ms": 204.18742179870605, "sample_ms_from_mean": 204.18742179870605, "output_transfer_ms": 0.07231906056404114, "total_ms": 314.25400637090206, "control_frequency_hz": 3.182139224089121, "prefill_share": 0.3011525680273938, "sample_share": 0.6497528039712925, "other_share": 0.015023266870793377, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.173108592629433, "prefix_embed_ms": 39.74012756347656, "prefill_forward_ms": 55.184383392333984, "prefill_ms": 94.92451095581055, "step_ms": [20.928543090820312, 20.058591842651367, 20.175840377807617, 20.376352310180664, 21.743776321411133, 21.124256134033203, 20.526912689208984, 20.348224639892578, 20.027616500854492, 20.54595184326172], "step_mean_ms": 20.585606575012207, "step_p50_ms": 20.451632499694824, "step_p95_ms": 21.464992237091064, "sample_ms": 205.85606575012207, "sample_ms_from_mean": 205.85606575012207, "output_transfer_ms": 0.08265115320682526, "total_ms": 317.4006436020136, "control_frequency_hz": 3.150592225181159, "prefill_share": 0.2990684261965005, "sample_share": 0.648568520258716, "other_share": 0.016900744401044693, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.955464094877243, "prefix_embed_ms": 39.26220703125, "prefill_forward_ms": 55.140350341796875, "prefill_ms": 94.40255737304688, "step_ms": [21.191776275634766, 20.082176208496094, 20.046815872192383, 20.160768508911133, 20.09014320373535, 20.665760040283203, 20.140512466430664, 20.07606315612793, 20.275392532348633, 19.882591247558594], "step_mean_ms": 20.261199951171875, "step_p50_ms": 20.115327835083008, "step_p95_ms": 20.95506896972656, "sample_ms": 202.61199951171875, "sample_ms_from_mean": 202.61199951171875, "output_transfer_ms": 0.07175840437412262, "total_ms": 313.1194170564413, "control_frequency_hz": 3.1936697168152466, "prefill_share": 0.3014905886722137, "sample_share": 0.6470758071039617, "other_share": 0.016216297667381793, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.875476524233818, "prefix_embed_ms": 38.906368255615234, "prefill_forward_ms": 55.126014709472656, "prefill_ms": 94.03238296508789, "step_ms": [20.849727630615234, 20.203392028808594, 20.361120223999023, 20.08064079284668, 20.26799964904785, 20.247488021850586, 19.937023162841797, 20.466304779052734, 19.94972801208496, 20.425312042236328], "step_mean_ms": 20.278873634338378, "step_p50_ms": 20.25774383544922, "step_p95_ms": 20.677187347412108, "sample_ms": 202.7887363433838, "sample_ms_from_mean": 202.7887363433838, "output_transfer_ms": 0.07271207869052887, "total_ms": 312.73999996483326, "control_frequency_hz": 3.1975442863479158, "prefill_share": 0.3006727088816959, "sample_share": 0.6484259652305008, "other_share": 0.015894007974663213, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.683724656701088, "prefix_embed_ms": 39.084129333496094, "prefill_forward_ms": 55.26732635498047, "prefill_ms": 94.35145568847656, "step_ms": [21.084928512573242, 20.25872039794922, 20.505056381225586, 20.10428810119629, 20.018943786621094, 20.24723243713379, 20.067167282104492, 20.069664001464844, 21.002912521362305, 21.40572738647461], "step_mean_ms": 20.476464080810548, "step_p50_ms": 20.252976417541504, "step_p95_ms": 21.261367893218996, "sample_ms": 204.76464080810547, "sample_ms_from_mean": 204.76464080810547, "output_transfer_ms": 0.06865151226520538, "total_ms": 314.6097715944052, "control_frequency_hz": 3.1785408156018744, "prefill_share": 0.2998999529172744, "sample_share": 0.6508527684006203, "other_share": 0.015070412164340944, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.00960560142994, "prefix_embed_ms": 40.74252700805664, "prefill_forward_ms": 55.26835250854492, "prefill_ms": 96.01087951660156, "step_ms": [21.151519775390625, 20.81273651123047, 19.833152770996094, 19.935840606689453, 19.75916862487793, 19.67535972595215, 19.563039779663086, 19.67535972595215, 19.95680046081543, 19.699359893798828], "step_mean_ms": 20.006233787536623, "step_p50_ms": 19.79616069793701, "step_p95_ms": 20.999067306518555, "sample_ms": 200.0623378753662, "sample_ms_from_mean": 200.0623378753662, "output_transfer_ms": 0.06387755274772644, "total_ms": 312.2024293988943, "control_frequency_hz": 3.203050027270357, "prefill_share": 0.30752765025390155, "sample_share": 0.640809676787463, "other_share": 0.0161937524396688, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.295921936631203, "prefix_embed_ms": 40.17398452758789, "prefill_forward_ms": 55.11884689331055, "prefill_ms": 95.29283142089844, "step_ms": [22.074079513549805, 21.96828842163086, 22.143295288085938, 21.607328414916992, 22.240896224975586, 21.05449676513672, 20.320703506469727, 20.73206329345703, 20.04844856262207, 20.156383514404297], "step_mean_ms": 21.2345983505249, "step_p50_ms": 21.330912590026855, "step_p95_ms": 22.196975803375246, "sample_ms": 212.34598350524902, "sample_ms_from_mean": 212.34598350524902, "output_transfer_ms": 0.07313676178455353, "total_ms": 322.66305200755596, "control_frequency_hz": 3.0992082724630725, "prefill_share": 0.29533233144607746, "sample_share": 0.658104428703775, "other_share": 0.014427367354362383, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.394122451543808, "prefix_embed_ms": 40.01724624633789, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 95.08386993408203, "step_ms": [20.294368743896484, 19.971359252929688, 20.300479888916016, 19.791648864746094, 19.92563247680664, 19.711872100830078, 19.734912872314453, 19.722591400146484, 20.739776611328125, 19.49193572998047], "step_mean_ms": 19.968457794189455, "step_p50_ms": 19.858640670776367, "step_p95_ms": 20.542093086242676, "sample_ms": 199.68457794189453, "sample_ms_from_mean": 199.68457794189453, "output_transfer_ms": 0.06079487502574921, "total_ms": 309.68161299824715, "control_frequency_hz": 3.2291229379693918, "prefill_share": 0.3070375054350425, "sample_share": 0.6448060509909085, "other_share": 0.014396230220249665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.127104982733727, "prefix_embed_ms": 39.30464172363281, "prefill_forward_ms": 55.18540954589844, "prefill_ms": 94.49005126953125, "step_ms": [20.816448211669922, 21.299327850341797, 21.39619255065918, 20.440736770629883, 20.936767578125, 20.27849578857422, 20.73004722595215, 20.071168899536133, 19.84320068359375, 19.725727081298828], "step_mean_ms": 20.553811264038085, "step_p50_ms": 20.585391998291016, "step_p95_ms": 21.352603435516357, "sample_ms": 205.53811264038086, "sample_ms_from_mean": 205.53811264038086, "output_transfer_ms": 0.05802325904369354, "total_ms": 315.6699202954769, "control_frequency_hz": 3.1678659755226874, "prefill_share": 0.29933181844214235, "sample_share": 0.6511171937066121, "other_share": 0.014118000662260885, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.4898102581501, "prefix_embed_ms": 38.47148895263672, "prefill_forward_ms": 55.1014404296875, "prefill_ms": 93.57292938232422, "step_ms": [20.27065658569336, 20.86729621887207, 19.71881675720215, 19.683168411254883, 19.544288635253906, 19.712127685546875, 20.161983489990234, 19.70275115966797, 19.843040466308594, 19.648351669311523], "step_mean_ms": 19.915248107910156, "step_p50_ms": 19.71547222137451, "step_p95_ms": 20.59880838394165, "sample_ms": 199.15248107910156, "sample_ms_from_mean": 199.15248107910156, "output_transfer_ms": 0.0643562525510788, "total_ms": 307.6682910323143, "control_frequency_hz": 3.250253695773187, "prefill_share": 0.30413575954922273, "sample_share": 0.6472960876497496, "other_share": 0.01426443409381565, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.69195568561554, "prefix_embed_ms": 39.259742736816406, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 94.34070205688477, "step_ms": [20.148479461669922, 20.275455474853516, 19.71334457397461, 20.141727447509766, 19.8986873626709, 19.754688262939453, 20.281248092651367, 20.370399475097656, 19.896928787231445, 19.798240661621094], "step_mean_ms": 20.027919960021972, "step_p50_ms": 20.020207405090332, "step_p95_ms": 20.330281352996828, "sample_ms": 200.27919960021973, "sample_ms_from_mean": 200.27919960021973, "output_transfer_ms": 0.07042475044727325, "total_ms": 309.7578249871731, "control_frequency_hz": 3.2283284531759917, "prefill_share": 0.3045627727428399, "sample_share": 0.646567038648703, "other_share": 0.014125689622810867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.129030793905258, "prefix_embed_ms": 38.08883285522461, "prefill_forward_ms": 55.06252670288086, "prefill_ms": 93.15135955810547, "step_ms": [20.15318489074707, 19.750303268432617, 19.71004867553711, 20.074304580688477, 20.653152465820312, 19.742271423339844, 19.705087661743164, 19.71561622619629, 20.38479995727539, 20.031967163085938], "step_mean_ms": 19.992073631286623, "step_p50_ms": 19.891135215759277, "step_p95_ms": 20.532393836975096, "sample_ms": 199.9207363128662, "sample_ms_from_mean": 199.9207363128662, "output_transfer_ms": 0.05939789116382599, "total_ms": 308.1636559218168, "control_frequency_hz": 3.245028999311024, "prefill_share": 0.30227886309130036, "sample_share": 0.6487485868988634, "other_share": 0.01591080346937479, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.286051779985428, "prefix_embed_ms": 37.77881622314453, "prefill_forward_ms": 55.10041427612305, "prefill_ms": 92.87923049926758, "step_ms": [20.901472091674805, 19.97488021850586, 19.775423049926758, 19.555776596069336, 19.641376495361328, 19.661951065063477, 19.81452751159668, 19.846527099609375, 19.648319244384766, 19.832799911499023], "step_mean_ms": 19.86530532836914, "step_p50_ms": 19.79497528076172, "step_p95_ms": 20.484505748748777, "sample_ms": 198.6530532836914, "sample_ms_from_mean": 198.6530532836914, "output_transfer_ms": 0.05753710865974426, "total_ms": 306.0893155634403, "control_frequency_hz": 3.267020275305033, "prefill_share": 0.3034383291958368, "sample_share": 0.649003552829071, "other_share": 0.013765403356468628, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.027248412370682, "prefix_embed_ms": 39.86921691894531, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 94.96860885620117, "step_ms": [20.322847366333008, 19.822463989257812, 19.8319034576416, 20.52057647705078, 19.71004867553711, 19.715776443481445, 19.758047103881836, 20.814271926879883, 20.211551666259766, 21.603967666625977], "step_mean_ms": 20.231145477294923, "step_p50_ms": 20.021727561950684, "step_p95_ms": 21.248604583740235, "sample_ms": 202.31145477294922, "sample_ms_from_mean": 202.31145477294922, "output_transfer_ms": 0.0654757022857666, "total_ms": 311.7440212517977, "control_frequency_hz": 3.2077599948333684, "prefill_share": 0.30463650425390004, "sample_share": 0.6489665911172068, "other_share": 0.014021867975008134, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.591492056846619, "prefix_embed_ms": 39.9409294128418, "prefill_forward_ms": 55.17824172973633, "prefill_ms": 95.11917114257812, "step_ms": [21.079423904418945, 21.170591354370117, 20.077632904052734, 20.23459243774414, 20.27859115600586, 21.597919464111328, 20.027488708496094, 20.430208206176758, 20.62700843811035, 20.306304931640625], "step_mean_ms": 20.582976150512696, "step_p50_ms": 20.36825656890869, "step_p95_ms": 21.405621814727784, "sample_ms": 205.82976150512695, "sample_ms_from_mean": 205.82976150512695, "output_transfer_ms": 0.06211921572685242, "total_ms": 316.0100169479847, "control_frequency_hz": 3.1644566512731784, "prefill_share": 0.30100049378572313, "sample_share": 0.651339357824871, "other_share": 0.013947257337831849, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.232828557491302, "prefix_embed_ms": 40.12112045288086, "prefill_forward_ms": 55.08403015136719, "prefill_ms": 95.20515060424805, "step_ms": [20.840160369873047, 21.2193603515625, 20.749631881713867, 20.140127182006836, 20.271808624267578, 20.3121280670166, 20.237632751464844, 19.922847747802734, 20.16022491455078, 20.12723159790039], "step_mean_ms": 20.398115348815917, "step_p50_ms": 20.25472068786621, "step_p95_ms": 21.048720359802246, "sample_ms": 203.98115348815918, "sample_ms_from_mean": 203.98115348815918, "output_transfer_ms": 0.0626537948846817, "total_ms": 313.91934491693974, "control_frequency_hz": 3.185531622030465, "prefill_share": 0.303279017830005, "sample_share": 0.6497884147347809, "other_share": 0.014135982837663805, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.191623121500015, "prefix_embed_ms": 39.01878356933594, "prefill_forward_ms": 55.21100616455078, "prefill_ms": 94.22978973388672, "step_ms": [20.30099105834961, 19.858463287353516, 19.934303283691406, 19.698463439941406, 19.746015548706055, 19.61311912536621, 19.662784576416016, 19.64614486694336, 19.891551971435547, 20.218591690063477], "step_mean_ms": 19.85704288482666, "step_p50_ms": 19.802239418029785, "step_p95_ms": 20.26391134262085, "sample_ms": 198.5704288482666, "sample_ms_from_mean": 198.5704288482666, "output_transfer_ms": 0.05958043038845062, "total_ms": 308.22850950062275, "control_frequency_hz": 3.2443462209908898, "prefill_share": 0.30571406222790154, "sample_share": 0.6442312204344142, "other_share": 0.016796263833506624, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.10088063776493, "prefix_embed_ms": 38.360958099365234, "prefill_forward_ms": 55.032833099365234, "prefill_ms": 93.39379119873047, "step_ms": [20.7903995513916, 20.298015594482422, 20.144256591796875, 20.12633514404297, 21.20035171508789, 20.279935836791992, 19.901023864746094, 20.31123161315918, 20.3090877532959, 20.19536018371582], "step_mean_ms": 20.355599784851073, "step_p50_ms": 20.288975715637207, "step_p95_ms": 21.01587324142456, "sample_ms": 203.55599784851074, "sample_ms_from_mean": 203.55599784851074, "output_transfer_ms": 0.060366466641426086, "total_ms": 311.49497255682945, "control_frequency_hz": 3.210324686115308, "prefill_share": 0.299824393415183, "sample_share": 0.6534808448999085, "other_share": 0.014073859263915005, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.385511443018913, "prefix_embed_ms": 39.63715362548828, "prefill_forward_ms": 55.0645751953125, "prefill_ms": 94.70172882080078, "step_ms": [21.024192810058594, 20.54697608947754, 19.8308162689209, 19.76380729675293, 19.96428871154785, 19.87264060974121, 19.97551918029785, 22.11292839050293, 20.383359909057617, 20.055648803710938], "step_mean_ms": 20.353017807006836, "step_p50_ms": 20.015583992004395, "step_p95_ms": 21.622997379302976, "sample_ms": 203.53017807006836, "sample_ms_from_mean": 203.53017807006836, "output_transfer_ms": 0.06259232759475708, "total_ms": 313.3018482476473, "control_frequency_hz": 3.19181008855574, "prefill_share": 0.3022699334539018, "sample_share": 0.6496296756895904, "other_share": 0.014752027835185878, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.513195767998695, "prefix_embed_ms": 40.09328079223633, "prefill_forward_ms": 55.03897476196289, "prefill_ms": 95.13225555419922, "step_ms": [20.868703842163086, 20.27225685119629, 20.779455184936523, 20.77244758605957, 20.53945541381836, 20.43459129333496, 21.207359313964844, 20.074848175048828, 19.96691131591797, 20.239200592041016], "step_mean_ms": 20.515522956848145, "step_p50_ms": 20.48702335357666, "step_p95_ms": 21.054964351654053, "sample_ms": 205.15522956848145, "sample_ms_from_mean": 205.15522956848145, "output_transfer_ms": 0.07635168731212616, "total_ms": 315.5367951840162, "control_frequency_hz": 3.169202499558935, "prefill_share": 0.30149338209104753, "sample_share": 0.6501784663460185, "other_share": 0.01476773129836487, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.771399363875389, "prefix_embed_ms": 39.26192092895508, "prefill_forward_ms": 55.06867218017578, "prefill_ms": 94.33059310913086, "step_ms": [20.145727157592773, 19.85625648498535, 19.618528366088867, 19.7542724609375, 20.464448928833008, 20.092479705810547, 21.054367065429688, 19.927583694458008, 19.740800857543945, 20.91049575805664], "step_mean_ms": 20.156496047973633, "step_p50_ms": 20.010031700134277, "step_p95_ms": 20.989624977111816, "sample_ms": 201.56496047973633, "sample_ms_from_mean": 201.56496047973633, "output_transfer_ms": 0.0767931342124939, "total_ms": 311.63763627409935, "control_frequency_hz": 3.2088550406038086, "prefill_share": 0.30269319918138143, "sample_share": 0.6467927394445094, "other_share": 0.015703784195179437, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.693853884935379, "prefix_embed_ms": 39.323551177978516, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 94.42089462280273, "step_ms": [20.499359130859375, 22.39139175415039, 20.04960060119629, 20.55081558227539, 20.092384338378906, 19.681663513183594, 19.754016876220703, 19.791872024536133, 19.946943283081055, 19.892160415649414], "step_mean_ms": 20.265020751953124, "step_p50_ms": 19.998271942138672, "step_p95_ms": 21.56313247680664, "sample_ms": 202.65020751953125, "sample_ms_from_mean": 202.65020751953125, "output_transfer_ms": 0.07688812911510468, "total_ms": 313.4220503270626, "control_frequency_hz": 3.190585981287783, "prefill_share": 0.30125798272416543, "sample_share": 0.6465729112168765, "other_share": 0.014613541599573468, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.091522872447968, "prefix_embed_ms": 40.6448974609375, "prefill_forward_ms": 55.10655975341797, "prefill_ms": 95.75145721435547, "step_ms": [20.15996742248535, 20.003231048583984, 19.912960052490234, 20.014816284179688, 20.03603172302246, 20.529888153076172, 22.03766441345215, 19.983455657958984, 19.80988883972168, 20.178560256958008], "step_mean_ms": 20.26664638519287, "step_p50_ms": 20.025424003601074, "step_p95_ms": 21.359165096282958, "sample_ms": 202.6664638519287, "sample_ms_from_mean": 202.6664638519287, "output_transfer_ms": 0.06541237235069275, "total_ms": 314.1813073307276, "control_frequency_hz": 3.1828755456394333, "prefill_share": 0.3047649716269125, "sample_share": 0.6450621317155221, "other_share": 0.014661760302613066, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.157851666212082, "prefix_embed_ms": 38.653472900390625, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 93.73852920532227, "step_ms": [20.615232467651367, 19.743328094482422, 19.8504638671875, 19.80575942993164, 19.802400588989258, 19.97715187072754, 19.84329605102539, 20.115039825439453, 20.251583099365234, 19.857152938842773], "step_mean_ms": 19.98614082336426, "step_p50_ms": 19.853808403015137, "step_p95_ms": 20.451590251922607, "sample_ms": 199.86140823364258, "sample_ms_from_mean": 199.86140823364258, "output_transfer_ms": 0.056996941566467285, "total_ms": 309.4770908355713, "control_frequency_hz": 3.2312569479700564, "prefill_share": 0.3028932737871916, "sample_share": 0.6458035639860374, "other_share": 0.015065104742454207, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.1524797976017, "prefix_embed_ms": 38.85295867919922, "prefill_forward_ms": 55.085025787353516, "prefill_ms": 93.93798446655273, "step_ms": [20.498912811279297, 20.365951538085938, 20.39017677307129, 20.710208892822266, 22.4105281829834, 20.731008529663086, 20.715808868408203, 20.776031494140625, 20.668031692504883, 20.256704330444336], "step_mean_ms": 20.752336311340333, "step_p50_ms": 20.689120292663574, "step_p95_ms": 21.67500467300415, "sample_ms": 207.52336311340332, "sample_ms_from_mean": 207.52336311340332, "output_transfer_ms": 0.05890801548957825, "total_ms": 317.160177975893, "control_frequency_hz": 3.1529809523439254, "prefill_share": 0.2961846757246203, "sample_share": 0.6543172110629126, "other_share": 0.01414882098844948, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.173024773597717, "prefix_embed_ms": 39.640254974365234, "prefill_forward_ms": 55.16902542114258, "prefill_ms": 94.80928039550781, "step_ms": [20.005983352661133, 19.922367095947266, 20.219711303710938, 19.86627197265625, 19.656543731689453, 19.671167373657227, 19.686559677124023, 19.64259147644043, 19.85647964477539, 19.774944305419922], "step_mean_ms": 19.830261993408204, "step_p50_ms": 19.815711975097656, "step_p95_ms": 20.123533725738525, "sample_ms": 198.30261993408203, "sample_ms_from_mean": 198.30261993408203, "output_transfer_ms": 0.0662580132484436, "total_ms": 308.6171504110098, "control_frequency_hz": 3.2402606228079716, "prefill_share": 0.30720677794232376, "sample_share": 0.6425521707720611, "other_share": 0.013822845842794087, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.921059176325798, "prefix_embed_ms": 38.72492980957031, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 93.77721786499023, "step_ms": [20.059104919433594, 19.559520721435547, 20.123872756958008, 20.240352630615234, 19.71721649169922, 19.53766441345215, 19.481184005737305, 19.56073570251465, 19.622432708740234, 19.592960357666016], "step_mean_ms": 19.749504470825194, "step_p50_ms": 19.607696533203125, "step_p95_ms": 20.18793668746948, "sample_ms": 197.49504470825195, "sample_ms_from_mean": 197.49504470825195, "output_transfer_ms": 0.05861744284629822, "total_ms": 306.4255155622959, "control_frequency_hz": 3.263435808095104, "prefill_share": 0.30603593076414504, "sample_share": 0.6445124008222529, "other_share": 0.013620198573291288, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.845692828297615, "prefix_embed_ms": 38.06083297729492, "prefill_forward_ms": 55.14547348022461, "prefill_ms": 93.20630645751953, "step_ms": [20.543392181396484, 19.817888259887695, 19.7938232421875, 19.727264404296875, 19.93462371826172, 20.330495834350586, 19.724416732788086, 19.680864334106445, 19.854496002197266, 20.095327377319336], "step_mean_ms": 19.9502592086792, "step_p50_ms": 19.83619213104248, "step_p95_ms": 20.44758882522583, "sample_ms": 199.502592086792, "sample_ms_from_mean": 199.502592086792, "output_transfer_ms": 0.05858577787876129, "total_ms": 307.8593388199806, "control_frequency_hz": 3.2482366909283384, "prefill_share": 0.30275614446122584, "sample_share": 0.6480316395516273, "other_share": 0.013792538130459787, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.052139103412628, "prefix_embed_ms": 38.046241760253906, "prefill_forward_ms": 55.0645751953125, "prefill_ms": 93.1108169555664, "step_ms": [20.135967254638672, 19.490144729614258, 19.574176788330078, 20.10652732849121, 19.544864654541016, 19.55619239807129, 19.700960159301758, 20.205215454101562, 19.752864837646484, 20.053695678710938], "step_mean_ms": 19.812060928344728, "step_p50_ms": 19.72691249847412, "step_p95_ms": 20.174053764343263, "sample_ms": 198.12060928344727, "sample_ms_from_mean": 198.12060928344727, "output_transfer_ms": 0.06550736725330353, "total_ms": 306.83479458093643, "control_frequency_hz": 3.2590827952408814, "prefill_share": 0.3034558615907094, "sample_share": 0.6456914690983239, "other_share": 0.014619338974848862, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.457059532403946, "prefix_embed_ms": 39.107967376708984, "prefill_forward_ms": 55.046142578125, "prefill_ms": 94.15410995483398, "step_ms": [20.14419174194336, 19.624799728393555, 19.574207305908203, 19.6428165435791, 19.831039428710938, 19.595264434814453, 19.857791900634766, 19.704479217529297, 20.170528411865234, 19.713855743408203], "step_mean_ms": 19.78589744567871, "step_p50_ms": 19.70916748046875, "step_p95_ms": 20.15867691040039, "sample_ms": 197.8589744567871, "sample_ms_from_mean": 197.8589744567871, "output_transfer_ms": 0.06097741425037384, "total_ms": 307.85646103322506, "control_frequency_hz": 3.248267054859947, "prefill_share": 0.3058376934459482, "sample_share": 0.6426987882363574, "other_share": 0.014049858367217567, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.877734050154686, "prefix_embed_ms": 37.78278350830078, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 92.84019088745117, "step_ms": [19.98134422302246, 19.539615631103516, 19.63702392578125, 19.65488052368164, 19.791488647460938, 19.849599838256836, 19.899776458740234, 19.738271713256836, 19.62985610961914, 20.339584350585938], "step_mean_ms": 19.806144142150877, "step_p50_ms": 19.764880180358887, "step_p95_ms": 20.17837629318237, "sample_ms": 198.0614414215088, "sample_ms_from_mean": 198.0614414215088, "output_transfer_ms": 0.0575575977563858, "total_ms": 306.98299035429955, "control_frequency_hz": 3.257509475837296, "prefill_share": 0.30242780155441557, "sample_share": 0.6451870222285584, "other_share": 0.016763360052911278, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.816145688295364, "prefix_embed_ms": 37.87123107910156, "prefill_forward_ms": 55.044097900390625, "prefill_ms": 92.91532897949219, "step_ms": [20.395103454589844, 19.728384017944336, 19.591615676879883, 19.62611198425293, 19.622880935668945, 19.60643196105957, 19.456640243530273, 20.274879455566406, 20.000415802001953, 19.596351623535156], "step_mean_ms": 19.78988151550293, "step_p50_ms": 19.624496459960938, "step_p95_ms": 20.341002655029296, "sample_ms": 197.8988151550293, "sample_ms_from_mean": 197.8988151550293, "output_transfer_ms": 0.061104074120521545, "total_ms": 305.94947934150696, "control_frequency_hz": 3.2685134884108753, "prefill_share": 0.30369500604960414, "sample_share": 0.6468349466747438, "other_share": 0.013917609710381716, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.497914791107178, "prefix_embed_ms": 40.316959381103516, "prefill_forward_ms": 55.17619323730469, "prefill_ms": 95.4931526184082, "step_ms": [21.091136932373047, 20.284160614013672, 20.37775993347168, 20.077791213989258, 19.995391845703125, 19.81808090209961, 19.569311141967773, 19.458208084106445, 19.499296188354492, 19.69049644470215], "step_mean_ms": 19.986163330078124, "step_p50_ms": 19.906736373901367, "step_p95_ms": 20.77011728286743, "sample_ms": 199.86163330078125, "sample_ms_from_mean": 199.86163330078125, "output_transfer_ms": 0.061899423599243164, "total_ms": 311.4458192139864, "control_frequency_hz": 3.2108313494904412, "prefill_share": 0.3066124080888603, "sample_share": 0.6417219977625113, "other_share": 0.01454898027376389, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.83415187895298, "prefix_embed_ms": 37.52163314819336, "prefill_forward_ms": 55.018497467041016, "prefill_ms": 92.54013061523438, "step_ms": [20.352031707763672, 19.573503494262695, 19.6345272064209, 19.72719955444336, 19.517536163330078, 19.50351905822754, 19.56163215637207, 19.532896041870117, 19.8023681640625, 19.711103439331055], "step_mean_ms": 19.691631698608397, "step_p50_ms": 19.604015350341797, "step_p95_ms": 20.104683113098144, "sample_ms": 196.91631698608398, "sample_ms_from_mean": 196.91631698608398, "output_transfer_ms": 0.062292441725730896, "total_ms": 304.6699035912752, "control_frequency_hz": 3.2822408390607993, "prefill_share": 0.3037389959573428, "sample_share": 0.6463267774891667, "other_share": 0.01416947200360676, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.017335578799248, "prefix_embed_ms": 38.014305114746094, "prefill_forward_ms": 55.02259063720703, "prefill_ms": 93.03689575195312, "step_ms": [20.487295150756836, 19.77622413635254, 19.909984588623047, 19.82806396484375, 19.885087966918945, 19.64134407043457, 19.530847549438477, 19.48419189453125, 19.59267234802246, 19.675872802734375], "step_mean_ms": 19.781158447265625, "step_p50_ms": 19.726048469543457, "step_p95_ms": 20.22750539779663, "sample_ms": 197.81158447265625, "sample_ms_from_mean": 197.81158447265625, "output_transfer_ms": 0.05910731852054596, "total_ms": 306.2651827931404, "control_frequency_hz": 3.2651442481316146, "prefill_share": 0.3037788850285104, "sample_share": 0.6458833572546946, "other_share": 0.014171573900853003, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.854098945856094, "prefix_embed_ms": 38.01494216918945, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.04265594482422, "step_ms": [20.24297523498535, 19.74355125427246, 20.164352416992188, 20.864288330078125, 20.53660774230957, 20.000608444213867, 19.748640060424805, 19.696928024291992, 19.614015579223633, 19.632671356201172], "step_mean_ms": 20.024463844299316, "step_p50_ms": 19.874624252319336, "step_p95_ms": 20.716832065582274, "sample_ms": 200.24463844299316, "sample_ms_from_mean": 200.24463844299316, "output_transfer_ms": 0.06149895489215851, "total_ms": 309.194628149271, "control_frequency_hz": 3.2342088411614522, "prefill_share": 0.30091938046189365, "sample_share": 0.6476329800475069, "other_share": 0.016144316253435997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.00154034793377, "prefix_embed_ms": 38.0412483215332, "prefill_forward_ms": 54.99903869628906, "prefill_ms": 93.04028701782227, "step_ms": [20.051616668701172, 19.525440216064453, 19.54368019104004, 19.948959350585938, 19.7857608795166, 19.612064361572266, 19.56048011779785, 19.59600067138672, 20.907743453979492, 19.77414321899414], "step_mean_ms": 19.83058891296387, "step_p50_ms": 19.693103790283203, "step_p95_ms": 20.522486400604247, "sample_ms": 198.30588912963867, "sample_ms_from_mean": 198.30588912963867, "output_transfer_ms": 0.06682425737380981, "total_ms": 306.9048263132572, "control_frequency_hz": 3.2583391144826823, "prefill_share": 0.30315680641286563, "sample_share": 0.6461478351833679, "other_share": 0.01463087307693713, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.216796934604645, "prefix_embed_ms": 38.78927993774414, "prefill_forward_ms": 55.0830078125, "prefill_ms": 93.87228775024414, "step_ms": [20.103839874267578, 19.642335891723633, 19.61417579650879, 19.489055633544922, 20.129440307617188, 19.776351928710938, 19.516096115112305, 19.589664459228516, 19.55683135986328, 19.537343978881836], "step_mean_ms": 19.6955135345459, "step_p50_ms": 19.601920127868652, "step_p95_ms": 20.117920112609863, "sample_ms": 196.95513534545898, "sample_ms_from_mean": 196.95513534545898, "output_transfer_ms": 0.06072409451007843, "total_ms": 306.36084638535976, "control_frequency_hz": 3.2641246810701707, "prefill_share": 0.30641085131409296, "sample_share": 0.6428861183446286, "other_share": 0.0138917956088572, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.931277647614479, "prefix_embed_ms": 38.71481704711914, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 93.87155151367188, "step_ms": [20.042720794677734, 19.532543182373047, 19.520736694335938, 19.552608489990234, 19.678560256958008, 19.753631591796875, 19.858272552490234, 19.66454315185547, 20.154399871826172, 19.61510467529297], "step_mean_ms": 19.73731212615967, "step_p50_ms": 19.67155170440674, "step_p95_ms": 20.104144287109374, "sample_ms": 197.37312126159668, "sample_ms_from_mean": 197.37312126159668, "output_transfer_ms": 0.05846843123435974, "total_ms": 306.51143938302994, "control_frequency_hz": 3.262520974789319, "prefill_share": 0.3062579057493705, "sample_share": 0.6439339479755948, "other_share": 0.013953869185181681, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.320795863866806, "prefix_embed_ms": 38.13343811035156, "prefill_forward_ms": 54.993919372558594, "prefill_ms": 93.12735748291016, "step_ms": [20.533248901367188, 20.11737632751465, 19.585439682006836, 19.915199279785156, 19.811904907226562, 19.859359741210938, 19.713151931762695, 19.561920166015625, 22.88230323791504, 20.93734359741211], "step_mean_ms": 20.29172477722168, "step_p50_ms": 19.887279510498047, "step_p95_ms": 22.00707139968872, "sample_ms": 202.9172477722168, "sample_ms_from_mean": 202.9172477722168, "output_transfer_ms": 0.08601509034633636, "total_ms": 312.61071749031544, "control_frequency_hz": 3.198866654438934, "prefill_share": 0.2979019984680954, "sample_share": 0.6491052175090674, "other_share": 0.016503916827916097, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.797882616519928, "prefix_embed_ms": 39.260032653808594, "prefill_forward_ms": 55.25196838378906, "prefill_ms": 94.51200103759766, "step_ms": [21.68764877319336, 20.036928176879883, 20.22979164123535, 20.11311912536621, 21.057151794433594, 20.382848739624023, 20.203935623168945, 20.007455825805664, 20.04934310913086, 20.465055465698242], "step_mean_ms": 20.423327827453612, "step_p50_ms": 20.21686363220215, "step_p95_ms": 21.403925132751464, "sample_ms": 204.23327827453613, "sample_ms_from_mean": 204.23327827453613, "output_transfer_ms": 0.07545948028564453, "total_ms": 315.34488685429096, "control_frequency_hz": 3.1711311699880596, "prefill_share": 0.29970995242826975, "sample_share": 0.6476505146852267, "other_share": 0.01498760767139196, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.723227798938751, "prefix_embed_ms": 39.03583908081055, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 94.08914947509766, "step_ms": [20.66854476928711, 20.11030387878418, 20.254047393798828, 20.298336029052734, 20.360448837280273, 20.094144821166992, 20.39308738708496, 20.192672729492188, 20.128671646118164, 20.289440155029297], "step_mean_ms": 20.278969764709473, "step_p50_ms": 20.271743774414062, "step_p95_ms": 20.54458894729614, "sample_ms": 202.78969764709473, "sample_ms_from_mean": 202.78969764709473, "output_transfer_ms": 0.06965361535549164, "total_ms": 313.079996034503, "control_frequency_hz": 3.194071843190502, "prefill_share": 0.30052750308815185, "sample_share": 0.6477248633437005, "other_share": 0.01408032309266589, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.61385327577591, "prefix_embed_ms": 40.145118713378906, "prefill_forward_ms": 55.1096305847168, "prefill_ms": 95.2547492980957, "step_ms": [20.75017547607422, 20.244863510131836, 20.170175552368164, 20.276927947998047, 20.356895446777344, 20.225727081298828, 20.054048538208008, 20.090560913085938, 20.26892852783203, 20.408159255981445], "step_mean_ms": 20.284646224975585, "step_p50_ms": 20.256896018981934, "step_p95_ms": 20.59626817703247, "sample_ms": 202.84646224975586, "sample_ms_from_mean": 202.84646224975586, "output_transfer_ms": 0.06002001464366913, "total_ms": 314.1630832105875, "control_frequency_hz": 3.1830601793836077, "prefill_share": 0.3032015993879371, "sample_share": 0.6456724965160382, "other_share": 0.013967262886120295, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.094681918621063, "prefix_embed_ms": 38.98505783081055, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 94.04144287109375, "step_ms": [20.768672943115234, 20.626399993896484, 20.329696655273438, 20.16422462463379, 20.67510414123535, 20.406047821044922, 20.177087783813477, 20.321855545043945, 20.11395263671875, 20.138463973999023], "step_mean_ms": 20.37215061187744, "step_p50_ms": 20.32577610015869, "step_p95_ms": 20.726566982269286, "sample_ms": 203.7215061187744, "sample_ms_from_mean": 203.7215061187744, "output_transfer_ms": 0.05969591438770294, "total_ms": 313.3180681616068, "control_frequency_hz": 3.1916448542769915, "prefill_share": 0.30014688722831, "sample_share": 0.650206696709545, "other_share": 0.014045603448761192, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.07897236943245, "prefix_embed_ms": 39.13142395019531, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 94.19702529907227, "step_ms": [20.632511138916016, 20.085216522216797, 20.16054344177246, 20.208032608032227, 19.87548828125, 20.022911071777344, 20.10915184020996, 20.356576919555664, 19.67180824279785, 19.842079162597656], "step_mean_ms": 20.096431922912597, "step_p50_ms": 20.09718418121338, "step_p95_ms": 20.508340740203856, "sample_ms": 200.96431922912598, "sample_ms_from_mean": 200.96431922912598, "output_transfer_ms": 0.07238797843456268, "total_ms": 310.64184196293354, "control_frequency_hz": 3.219141354818911, "prefill_share": 0.3032335396411667, "sample_share": 0.6469325508735088, "other_share": 0.01393610422701797, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.383706703782082, "prefix_embed_ms": 39.485023498535156, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 94.60898971557617, "step_ms": [20.895679473876953, 20.39481544494629, 20.159391403198242, 19.74425506591797, 19.978464126586914, 19.766399383544922, 19.675552368164062, 19.534400939941406, 19.981632232666016, 20.159616470336914], "step_mean_ms": 20.029020690917967, "step_p50_ms": 19.980048179626465, "step_p95_ms": 20.670290660858154, "sample_ms": 200.2902069091797, "sample_ms_from_mean": 200.2902069091797, "output_transfer_ms": 0.06620213389396667, "total_ms": 310.69218553602695, "control_frequency_hz": 3.2186197353973776, "prefill_share": 0.304510361444561, "sample_share": 0.6446580127647099, "other_share": 0.013978723237284113, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.909579694271088, "prefix_embed_ms": 38.93622589111328, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.03152084350586, "step_ms": [20.90662384033203, 19.68160057067871, 20.05638313293457, 20.369279861450195, 19.764543533325195, 20.06537628173828, 20.190208435058594, 20.262048721313477, 20.148479461669922, 20.27356719970703], "step_mean_ms": 20.1718111038208, "step_p50_ms": 20.169343948364258, "step_p95_ms": 20.664819049835206, "sample_ms": 201.718111038208, "sample_ms_from_mean": 201.718111038208, "output_transfer_ms": 0.06571225821971893, "total_ms": 311.1054990440607, "control_frequency_hz": 3.2143436971468438, "prefill_share": 0.30224962635645514, "sample_share": 0.6483913388160311, "other_share": 0.014080674315678453, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.182278394699097, "prefix_embed_ms": 39.430816650390625, "prefill_forward_ms": 55.02873611450195, "prefill_ms": 94.45955276489258, "step_ms": [20.770719528198242, 20.34409523010254, 21.355295181274414, 20.980928421020508, 20.969663619995117, 20.2956485748291, 20.168127059936523, 20.12451171875, 20.268064498901367, 19.501407623291016], "step_mean_ms": 20.477846145629883, "step_p50_ms": 20.31987190246582, "step_p95_ms": 21.186830139160154, "sample_ms": 204.77846145629883, "sample_ms_from_mean": 204.77846145629883, "output_transfer_ms": 0.06024166941642761, "total_ms": 314.9140663444996, "control_frequency_hz": 3.1754694593605484, "prefill_share": 0.2999534249497726, "sample_share": 0.6502677502893182, "other_share": 0.014078545651062167, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.075079441070557, "prefix_embed_ms": 39.08390426635742, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 94.14438247680664, "step_ms": [21.190752029418945, 21.36614418029785, 21.082239151000977, 20.548799514770508, 20.482624053955078, 20.5199031829834, 20.451135635375977, 20.462528228759766, 20.15135955810547, 20.97488021850586], "step_mean_ms": 20.723036575317384, "step_p50_ms": 20.534351348876953, "step_p95_ms": 21.287217712402345, "sample_ms": 207.23036575317383, "sample_ms_from_mean": 207.23036575317383, "output_transfer_ms": 0.0800006091594696, "total_ms": 317.2948155552149, "control_frequency_hz": 3.151643049225878, "prefill_share": 0.2967094886566902, "sample_share": 0.6531161418145267, "other_share": 0.015017539024917334, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.575879529118538, "prefix_embed_ms": 40.39606475830078, "prefill_forward_ms": 55.1280632019043, "prefill_ms": 95.52412796020508, "step_ms": [20.721792221069336, 20.198944091796875, 20.53878402709961, 20.140512466430664, 20.094655990600586, 20.45123291015625, 20.444671630859375, 20.416351318359375, 20.40345573425293, 20.243616104125977], "step_mean_ms": 20.365401649475096, "step_p50_ms": 20.409903526306152, "step_p95_ms": 20.639438533782958, "sample_ms": 203.65401649475098, "sample_ms_from_mean": 203.65401649475098, "output_transfer_ms": 0.0630449503660202, "total_ms": 315.56609459221363, "control_frequency_hz": 3.168908248182485, "prefill_share": 0.302707196993533, "sample_share": 0.6453608926457082, "other_share": 0.015049226577747167, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3344, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.517031118273735, "prefix_embed_ms": 40.51833724975586, "prefill_forward_ms": 55.1649284362793, "prefill_ms": 95.68326568603516, "step_ms": [22.729312896728516, 20.580928802490234, 20.41062355041504, 20.456096649169922, 20.392608642578125, 20.105632781982422, 19.919647216796875, 20.32329559326172, 20.426816940307617, 20.808351516723633], "step_mean_ms": 20.61533145904541, "step_p50_ms": 20.418720245361328, "step_p95_ms": 21.864880275726318, "sample_ms": 206.1533145904541, "sample_ms_from_mean": 206.1533145904541, "output_transfer_ms": 0.07666833698749542, "total_ms": 318.2320296764374, "control_frequency_hz": 3.1423612545121578, "prefill_share": 0.3006713867969895, "sample_share": 0.6478081882582989, "other_share": 0.01508883298003998, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.48220118880272, "prefix_embed_ms": 37.98281478881836, "prefill_forward_ms": 55.179264068603516, "prefill_ms": 93.16207885742188, "step_ms": [20.12566375732422, 19.977535247802734, 19.756895065307617, 19.93507194519043, 19.784927368164062, 19.67228889465332, 19.521055221557617, 19.52191925048828, 19.712255477905273, 19.602176666259766], "step_mean_ms": 19.76097888946533, "step_p50_ms": 19.734575271606445, "step_p95_ms": 20.05900592803955, "sample_ms": 197.60978889465332, "sample_ms_from_mean": 197.60978889465332, "output_transfer_ms": 0.05916506052017212, "total_ms": 304.66965213418007, "control_frequency_hz": 3.2822435480367056, "prefill_share": 0.30578063225145974, "sample_share": 0.6486034546283713, "other_share": 0.014298825308873773, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.448099881410599, "prefix_embed_ms": 37.743167877197266, "prefill_forward_ms": 55.009281158447266, "prefill_ms": 92.75244903564453, "step_ms": [20.10883140563965, 19.608736038208008, 19.819168090820312, 19.89244842529297, 19.62499237060547, 19.489023208618164, 19.47488021850586, 19.728191375732422, 19.75212860107422, 19.804096221923828], "step_mean_ms": 19.73024959564209, "step_p50_ms": 19.74015998840332, "step_p95_ms": 20.011459064483642, "sample_ms": 197.3024959564209, "sample_ms_from_mean": 197.3024959564209, "output_transfer_ms": 0.06105750799179077, "total_ms": 303.7823848426342, "control_frequency_hz": 3.291830105679174, "prefill_share": 0.30532530411100794, "sample_share": 0.6494862961149898, "other_share": 0.013885869199925936, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.725367650389671, "prefix_embed_ms": 38.228702545166016, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.30249404907227, "step_ms": [19.954975128173828, 19.681215286254883, 19.738048553466797, 20.07823944091797, 19.940319061279297, 19.617952346801758, 19.966815948486328, 19.54185676574707, 19.84102439880371, 19.60326385498047], "step_mean_ms": 19.796371078491212, "step_p50_ms": 19.789536476135254, "step_p95_ms": 20.02809886932373, "sample_ms": 197.9637107849121, "sample_ms_from_mean": 197.9637107849121, "output_transfer_ms": 0.05785934627056122, "total_ms": 305.3639177232981, "control_frequency_hz": 3.274781144595277, "prefill_share": 0.30554524825561485, "sample_share": 0.6482878273925429, "other_share": 0.01412899704988389, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.439870715141296, "prefix_embed_ms": 37.6308479309082, "prefill_forward_ms": 55.01747131347656, "prefill_ms": 92.64831924438477, "step_ms": [19.965919494628906, 19.548095703125, 19.66966438293457, 19.78976058959961, 19.81292724609375, 19.72879981994629, 19.6856632232666, 19.651519775390625, 19.704927444458008, 19.67401695251465], "step_mean_ms": 19.7231294631958, "step_p50_ms": 19.695295333862305, "step_p95_ms": 19.897072982788085, "sample_ms": 197.231294631958, "sample_ms_from_mean": 197.231294631958, "output_transfer_ms": 0.06485916674137115, "total_ms": 304.33820374310017, "control_frequency_hz": 3.285818171037528, "prefill_share": 0.30442553088928537, "sample_share": 0.6480661717989441, "other_share": 0.016277483155077068, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.729953482747078, "prefix_embed_ms": 38.16486358642578, "prefill_forward_ms": 55.02873611450195, "prefill_ms": 93.19359970092773, "step_ms": [19.938751220703125, 19.689472198486328, 19.532608032226562, 19.640159606933594, 19.849151611328125, 19.49456024169922, 19.467199325561523, 19.570783615112305, 19.664512634277344, 19.563392639160156], "step_mean_ms": 19.641059112548827, "step_p50_ms": 19.60547161102295, "step_p95_ms": 19.898431396484376, "sample_ms": 196.41059112548828, "sample_ms_from_mean": 196.41059112548828, "output_transfer_ms": 0.05911104381084442, "total_ms": 303.56250517070293, "control_frequency_hz": 3.29421447960995, "prefill_share": 0.3069997055417697, "sample_share": 0.6470186132343331, "other_share": 0.013734403118674006, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.397145360708237, "prefix_embed_ms": 37.467838287353516, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 92.51091003417969, "step_ms": [20.426719665527344, 19.725984573364258, 19.77440071105957, 19.753759384155273, 20.00271987915039, 19.889375686645508, 20.356639862060547, 20.33283233642578, 20.510496139526367, 25.302976608276367], "step_mean_ms": 20.60759048461914, "step_p50_ms": 20.167776107788086, "step_p95_ms": 23.14636039733886, "sample_ms": 206.0759048461914, "sample_ms_from_mean": 206.0759048461914, "output_transfer_ms": 0.09039975702762604, "total_ms": 313.14936839044094, "control_frequency_hz": 3.1933642566162863, "prefill_share": 0.2954210334501943, "sample_share": 0.6580754286856866, "other_share": 0.01620635040210703, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.244950652122498, "prefix_embed_ms": 37.788448333740234, "prefill_forward_ms": 55.182334899902344, "prefill_ms": 92.97078323364258, "step_ms": [22.097408294677734, 19.66873550415039, 20.515167236328125, 19.76691246032715, 19.542112350463867, 19.679935455322266, 19.71232032775879, 20.00307273864746, 19.981952667236328, 23.168031692504883], "step_mean_ms": 20.4135648727417, "step_p50_ms": 19.87443256378174, "step_p95_ms": 22.686251163482666, "sample_ms": 204.135648727417, "sample_ms_from_mean": 204.135648727417, "output_transfer_ms": 0.06499513983726501, "total_ms": 311.76183745265007, "control_frequency_hz": 3.207576681516956, "prefill_share": 0.2982109163625995, "sample_share": 0.6547807467243992, "other_share": 0.01393839520300723, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.344941169023514, "prefix_embed_ms": 39.11667251586914, "prefill_forward_ms": 55.07788848876953, "prefill_ms": 94.19456100463867, "step_ms": [20.34943962097168, 19.897727966308594, 19.880512237548828, 20.02092742919922, 21.315807342529297, 19.601055145263672, 19.731456756591797, 19.8558406829834, 19.89731216430664, 19.711360931396484], "step_mean_ms": 20.02614402770996, "step_p50_ms": 19.888912200927734, "step_p95_ms": 20.88094186782837, "sample_ms": 200.2614402770996, "sample_ms_from_mean": 200.2614402770996, "output_transfer_ms": 0.07930770516395569, "total_ms": 309.2089332640171, "control_frequency_hz": 3.234059215055579, "prefill_share": 0.3046307880251666, "sample_share": 0.6476573563484564, "other_share": 0.013999217494778268, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.58709791302681, "prefix_embed_ms": 38.096927642822266, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 93.15126419067383, "step_ms": [21.64339256286621, 22.172992706298828, 20.444639205932617, 20.47644805908203, 20.13484764099121, 19.97551918029785, 19.84623908996582, 19.639423370361328, 19.623424530029297, 19.786592483520508], "step_mean_ms": 20.37435188293457, "step_p50_ms": 20.05518341064453, "step_p95_ms": 21.93467264175415, "sample_ms": 203.7435188293457, "sample_ms_from_mean": 203.7435188293457, "output_transfer_ms": 0.06817467510700226, "total_ms": 312.1138345450163, "control_frequency_hz": 3.203959226792203, "prefill_share": 0.29845285239106756, "sample_share": 0.6527859270523931, "other_share": 0.01782612086059415, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.901894256472588, "prefix_embed_ms": 41.172542572021484, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 96.24736022949219, "step_ms": [20.137792587280273, 19.611167907714844, 19.749919891357422, 20.383071899414062, 19.709247589111328, 19.881216049194336, 20.904672622680664, 20.18569564819336, 19.665311813354492, 19.589920043945312], "step_mean_ms": 19.98180160522461, "step_p50_ms": 19.81556797027588, "step_p95_ms": 20.669952297210692, "sample_ms": 199.8180160522461, "sample_ms_from_mean": 199.8180160522461, "output_transfer_ms": 0.060560181736946106, "total_ms": 310.28319522738457, "control_frequency_hz": 3.222862260610572, "prefill_share": 0.3101919849670212, "sample_share": 0.6439859429248613, "other_share": 0.013714453676159604, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.392047464847565, "prefix_embed_ms": 38.84716796875, "prefill_forward_ms": 55.09017562866211, "prefill_ms": 93.93734359741211, "step_ms": [20.409215927124023, 19.673568725585938, 19.74959945678711, 19.73967933654785, 19.95465660095215, 22.358240127563477, 19.634464263916016, 19.721952438354492, 20.082368850708008, 19.68329620361328], "step_mean_ms": 20.100704193115234, "step_p50_ms": 19.74463939666748, "step_p95_ms": 21.48117923736572, "sample_ms": 201.00704193115234, "sample_ms_from_mean": 201.00704193115234, "output_transfer_ms": 0.05967915058135986, "total_ms": 309.94813330471516, "control_frequency_hz": 3.226346257800764, "prefill_share": 0.3030743969832551, "sample_share": 0.6485183175261745, "other_share": 0.0146863964373246, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.472625330090523, "prefix_embed_ms": 37.84630584716797, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 92.89859390258789, "step_ms": [20.592063903808594, 21.21286392211914, 20.024511337280273, 20.45964813232422, 20.977184295654297, 20.540512084960938, 20.042112350463867, 20.054176330566406, 19.884384155273438, 19.938560485839844], "step_mean_ms": 20.3726016998291, "step_p50_ms": 20.256912231445312, "step_p95_ms": 21.10680809020996, "sample_ms": 203.72601699829102, "sample_ms_from_mean": 203.72601699829102, "output_transfer_ms": 0.06693229079246521, "total_ms": 311.1774493008852, "control_frequency_hz": 3.213600478590835, "prefill_share": 0.2985389658257721, "sample_share": 0.6546940257271127, "other_share": 0.016110681511100892, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.114887729287148, "prefix_embed_ms": 40.87104034423828, "prefill_forward_ms": 55.151615142822266, "prefill_ms": 96.02265548706055, "step_ms": [20.401952743530273, 19.675424575805664, 19.961727142333984, 19.83955192565918, 19.568607330322266, 19.51545524597168, 19.426271438598633, 19.537151336669922, 20.557344436645508, 19.740703582763672], "step_mean_ms": 19.82241897583008, "step_p50_ms": 19.708064079284668, "step_p95_ms": 20.487418174743652, "sample_ms": 198.22418975830078, "sample_ms_from_mean": 198.22418975830078, "output_transfer_ms": 0.07190369069576263, "total_ms": 308.8525366038084, "control_frequency_hz": 3.237791118687769, "prefill_share": 0.31090130112882003, "sample_share": 0.6418085211085053, "other_share": 0.014307474975129202, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.807041078805923, "prefix_embed_ms": 37.8902702331543, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 92.99273300170898, "step_ms": [20.795488357543945, 19.718944549560547, 19.639680862426758, 19.865440368652344, 19.84489631652832, 19.822080612182617, 21.12384033203125, 19.682079315185547, 20.020095825195312, 19.743328094482422], "step_mean_ms": 20.025587463378905, "step_p50_ms": 19.83348846435547, "step_p95_ms": 20.976081943511964, "sample_ms": 200.25587463378906, "sample_ms_from_mean": 200.25587463378906, "output_transfer_ms": 0.058341771364212036, "total_ms": 308.4950428456068, "control_frequency_hz": 3.241543172868655, "prefill_share": 0.30143995878808744, "sample_share": 0.6491380632460002, "other_share": 0.014201370367339148, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.690403938293457, "prefix_embed_ms": 40.25356674194336, "prefill_forward_ms": 55.11167907714844, "prefill_ms": 95.3652458190918, "step_ms": [20.229312896728516, 19.927648544311523, 19.8123836517334, 20.263935089111328, 20.017759323120117, 19.54755210876465, 22.502944946289062, 20.326431274414062, 20.326400756835938, 19.957855224609375], "step_mean_ms": 20.291222381591798, "step_p50_ms": 20.123536109924316, "step_p95_ms": 21.52351379394531, "sample_ms": 202.91222381591797, "sample_ms_from_mean": 202.91222381591797, "output_transfer_ms": 0.07157772779464722, "total_ms": 312.6070685684681, "control_frequency_hz": 3.198903993372041, "prefill_share": 0.3050642656795991, "sample_share": 0.6490967230687413, "other_share": 0.014611369116785698, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.03389060497284, "prefix_embed_ms": 38.48771286010742, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 93.61167907714844, "step_ms": [20.215839385986328, 19.660192489624023, 19.742847442626953, 19.713184356689453, 21.976703643798828, 19.552576065063477, 19.590656280517578, 19.717248916625977, 19.602367401123047, 19.596351623535156], "step_mean_ms": 19.936796760559083, "step_p50_ms": 19.68668842315674, "step_p95_ms": 21.1843147277832, "sample_ms": 199.36796760559082, "sample_ms_from_mean": 199.36796760559082, "output_transfer_ms": 0.060731545090675354, "total_ms": 307.31393210589886, "control_frequency_hz": 3.2540015128744795, "prefill_share": 0.3046125453397613, "sample_share": 0.6487436682073028, "other_share": 0.013795870704733027, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.620828554034233, "prefix_embed_ms": 37.964927673339844, "prefill_forward_ms": 55.140350341796875, "prefill_ms": 93.10527801513672, "step_ms": [20.34604835510254, 19.56025505065918, 19.719520568847656, 19.785503387451172, 20.26678466796875, 19.814239501953125, 19.648832321166992, 19.800800323486328, 19.79497528076172, 21.275136947631836], "step_mean_ms": 20.00120964050293, "step_p50_ms": 19.797887802124023, "step_p95_ms": 20.857047080993652, "sample_ms": 200.0120964050293, "sample_ms_from_mean": 200.0120964050293, "output_transfer_ms": 0.07130391895771027, "total_ms": 307.4009921401739, "control_frequency_hz": 3.253079936527996, "prefill_share": 0.3028789118959024, "sample_share": 0.6506553378781041, "other_share": 0.014936468535931887, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.603343904018402, "prefix_embed_ms": 37.90915298461914, "prefill_forward_ms": 55.021568298339844, "prefill_ms": 92.93072128295898, "step_ms": [20.0251522064209, 19.760704040527344, 20.06185531616211, 20.011615753173828, 19.73526382446289, 21.93929672241211, 19.804832458496094, 19.654495239257812, 19.718271255493164, 20.375072479248047], "step_mean_ms": 20.10865592956543, "step_p50_ms": 19.90822410583496, "step_p95_ms": 21.23539581298828, "sample_ms": 201.0865592956543, "sample_ms_from_mean": 201.0865592956543, "output_transfer_ms": 0.06851926445960999, "total_ms": 308.1744872033596, "control_frequency_hz": 3.244914947615749, "prefill_share": 0.30155228658378663, "sample_share": 0.6525087820230893, "other_share": 0.014554558026435528, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.728237986564636, "prefix_embed_ms": 38.51420974731445, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.54806518554688, "step_ms": [22.4715518951416, 20.004735946655273, 19.713119506835938, 19.786815643310547, 19.652544021606445, 19.65564727783203, 19.411136627197266, 19.618911743164062, 19.56902313232422, 19.813695907592773], "step_mean_ms": 19.969718170166015, "step_p50_ms": 19.684383392333984, "step_p95_ms": 21.36148471832275, "sample_ms": 199.69718170166016, "sample_ms_from_mean": 199.69718170166016, "output_transfer_ms": 0.05754828453063965, "total_ms": 307.3024768382311, "control_frequency_hz": 3.254122811793723, "prefill_share": 0.3044168929194543, "sample_share": 0.6498391544262884, "other_share": 0.013899802318148368, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.3571487814188, "prefix_embed_ms": 39.69615936279297, "prefill_forward_ms": 55.034881591796875, "prefill_ms": 94.73104095458984, "step_ms": [20.12406349182129, 19.573728561401367, 19.9998722076416, 19.6177921295166, 20.07699203491211, 20.01433563232422, 19.605344772338867, 21.781536102294922, 20.061119079589844, 19.90025520324707], "step_mean_ms": 20.07550392150879, "step_p50_ms": 20.00710391998291, "step_p95_ms": 21.035673427581784, "sample_ms": 200.7550392150879, "sample_ms_from_mean": 200.7550392150879, "output_transfer_ms": 0.06696023046970367, "total_ms": 309.25345979630947, "control_frequency_hz": 3.2335935729179957, "prefill_share": 0.30632168518659314, "sample_share": 0.6491602045368083, "other_share": 0.014044371945277308, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.440358728170395, "prefix_embed_ms": 39.061214447021484, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 94.1319351196289, "step_ms": [20.210208892822266, 19.698272705078125, 19.814176559448242, 21.6658878326416, 19.777151107788086, 19.76620864868164, 19.754175186157227, 19.80745506286621, 19.90073585510254, 19.588735580444336], "step_mean_ms": 19.998300743103027, "step_p50_ms": 19.79230308532715, "step_p95_ms": 21.0108323097229, "sample_ms": 199.98300743103027, "sample_ms_from_mean": 199.98300743103027, "output_transfer_ms": 0.06004050374031067, "total_ms": 307.87542276084423, "control_frequency_hz": 3.248066997464731, "prefill_share": 0.3057468318695579, "sample_share": 0.6495582064904735, "other_share": 0.013837028432060167, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.457588195800781, "prefix_embed_ms": 37.88351821899414, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 93.03308486938477, "step_ms": [20.736896514892578, 20.020191192626953, 19.69740867614746, 19.793888092041016, 19.983232498168945, 19.894432067871094, 19.653152465820312, 22.422847747802734, 19.75948715209961, 19.853439331054688], "step_mean_ms": 20.18149757385254, "step_p50_ms": 19.87393569946289, "step_p95_ms": 21.664169692993163, "sample_ms": 201.8149757385254, "sample_ms_from_mean": 201.8149757385254, "output_transfer_ms": 0.061606988310813904, "total_ms": 308.85840207338333, "control_frequency_hz": 3.237729630429172, "prefill_share": 0.3012159754918389, "sample_share": 0.6534223268129681, "other_share": 0.014541117389756178, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.259587153792381, "prefix_embed_ms": 37.824031829833984, "prefill_forward_ms": 55.02873611450195, "prefill_ms": 92.85276794433594, "step_ms": [20.0765438079834, 21.393184661865234, 19.98307228088379, 20.400800704956055, 19.8371524810791, 19.62611198425293, 19.580799102783203, 19.60540771484375, 19.833280563354492, 19.783935546875], "step_mean_ms": 20.012028884887695, "step_p50_ms": 19.835216522216797, "step_p95_ms": 20.946611881256104, "sample_ms": 200.12028884887695, "sample_ms_from_mean": 200.12028884887695, "output_transfer_ms": 0.06477534770965576, "total_ms": 306.62408471107483, "control_frequency_hz": 3.2613224135419046, "prefill_share": 0.3028228132562681, "sample_share": 0.6526567834273225, "other_share": 0.014110650898271163, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.322751313447952, "prefix_embed_ms": 41.65654373168945, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 96.72623825073242, "step_ms": [20.30294418334961, 19.70591926574707, 19.768224716186523, 19.958816528320312, 20.019136428833008, 22.00592041015625, 19.800479888916016, 19.892288208007812, 19.756511688232422, 19.855199813842773], "step_mean_ms": 20.10654411315918, "step_p50_ms": 19.873744010925293, "step_p95_ms": 21.23958110809326, "sample_ms": 201.0654411315918, "sample_ms_from_mean": 201.0654411315918, "output_transfer_ms": 0.06072968244552612, "total_ms": 311.6046413779259, "control_frequency_hz": 3.209194816797232, "prefill_share": 0.31041334244254465, "sample_share": 0.6452581715165534, "other_share": 0.014215067465365298, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.356813505291939, "prefix_embed_ms": 38.179168701171875, "prefill_forward_ms": 55.032833099365234, "prefill_ms": 93.21200180053711, "step_ms": [23.58038330078125, 20.481407165527344, 20.928447723388672, 20.877504348754883, 20.741695404052734, 20.706527709960938, 19.935392379760742, 19.702144622802734, 19.92038345336914, 20.066591262817383], "step_mean_ms": 20.694047737121583, "step_p50_ms": 20.59396743774414, "step_p95_ms": 22.387012290954587, "sample_ms": 206.94047737121582, "sample_ms_from_mean": 206.94047737121582, "output_transfer_ms": 0.06629899144172668, "total_ms": 314.18932415544987, "control_frequency_hz": 3.182794331691662, "prefill_share": 0.2966746309763825, "sample_share": 0.6586489783746724, "other_share": 0.014684561607448377, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.486189112067223, "prefix_embed_ms": 39.89545440673828, "prefill_forward_ms": 55.08710479736328, "prefill_ms": 94.98255920410156, "step_ms": [20.064287185668945, 19.63382339477539, 20.035615921020508, 19.859968185424805, 19.646303176879883, 19.519935607910156, 19.588960647583008, 21.115936279296875, 19.598623275756836, 19.538591384887695], "step_mean_ms": 19.86020450592041, "step_p50_ms": 19.640063285827637, "step_p95_ms": 20.642694187164306, "sample_ms": 198.6020450592041, "sample_ms_from_mean": 198.6020450592041, "output_transfer_ms": 0.058962032198905945, "total_ms": 307.32359178364277, "control_frequency_hz": 3.253899234341907, "prefill_share": 0.3090636766700609, "sample_share": 0.6462310423568811, "other_share": 0.013646320973052588, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.029882028698921, "prefix_embed_ms": 38.18864059448242, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 93.24195098876953, "step_ms": [20.488544464111328, 20.36185646057129, 22.266176223754883, 20.18137550354004, 19.669376373291016, 19.98102378845215, 19.878047943115234, 20.259456634521484, 20.16828727722168, 19.825536727905273], "step_mean_ms": 20.307968139648438, "step_p50_ms": 20.17483139038086, "step_p95_ms": 21.46624193191528, "sample_ms": 203.07968139648438, "sample_ms_from_mean": 203.07968139648438, "output_transfer_ms": 0.05895644426345825, "total_ms": 309.68628637492657, "control_frequency_hz": 3.2290742083081274, "prefill_share": 0.3010851790701662, "sample_share": 0.6557593614288195, "other_share": 0.013806925604492858, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.282991290092468, "prefix_embed_ms": 38.44243240356445, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 93.50291061401367, "step_ms": [20.161855697631836, 19.79267120361328, 19.77996826171875, 19.640735626220703, 19.613439559936523, 20.051616668701172, 20.75062370300293, 21.10915184020996, 20.838111877441406, 20.282527923583984], "step_mean_ms": 20.202070236206055, "step_p50_ms": 20.106736183166504, "step_p95_ms": 20.987183856964112, "sample_ms": 202.02070236206055, "sample_ms_from_mean": 202.02070236206055, "output_transfer_ms": 0.07273629307746887, "total_ms": 310.10524183511734, "control_frequency_hz": 3.224711694914525, "prefill_share": 0.3015199293655574, "sample_share": 0.6514585215217831, "other_share": 0.016852024960776996, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.830231010913849, "prefix_embed_ms": 39.83830261230469, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 94.88649368286133, "step_ms": [20.079776763916016, 19.949695587158203, 19.871007919311523, 20.052160263061523, 19.852767944335938, 19.520832061767578, 20.677663803100586, 19.78044891357422, 19.79484748840332, 19.688447952270508], "step_mean_ms": 19.92676486968994, "step_p50_ms": 19.86188793182373, "step_p95_ms": 20.40861463546753, "sample_ms": 199.2676486968994, "sample_ms_from_mean": 199.2676486968994, "output_transfer_ms": 0.06626918911933899, "total_ms": 309.35697443783283, "control_frequency_hz": 3.232511572810705, "prefill_share": 0.30672168893327906, "sample_share": 0.6441349804995053, "other_share": 0.013920267567474177, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.16467234492302, "prefix_embed_ms": 38.325408935546875, "prefill_forward_ms": 55.1014404296875, "prefill_ms": 93.42684936523438, "step_ms": [20.230016708374023, 23.191808700561523, 20.16364860534668, 20.294912338256836, 19.941280364990234, 19.880416870117188, 21.60918426513672, 20.668607711791992, 20.421279907226562, 20.41596794128418], "step_mean_ms": 20.681712341308593, "step_p50_ms": 20.355440139770508, "step_p95_ms": 22.47962770462036, "sample_ms": 206.81712341308594, "sample_ms_from_mean": 206.81712341308594, "output_transfer_ms": 0.06335414946079254, "total_ms": 313.89588303864, "control_frequency_hz": 3.185769721856791, "prefill_share": 0.297636427916239, "sample_share": 0.6588717297309283, "other_share": 0.014093474954532378, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.260423481464386, "prefix_embed_ms": 38.28793716430664, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.32998657226562, "step_ms": [20.039583206176758, 21.740320205688477, 19.87446403503418, 19.786527633666992, 19.69139289855957, 19.80303955078125, 19.719072341918945, 19.92540740966797, 19.98192024230957, 19.926271438598633], "step_mean_ms": 20.048799896240233, "step_p50_ms": 19.899935722351074, "step_p95_ms": 20.9749885559082, "sample_ms": 200.48799896240234, "sample_ms_from_mean": 200.48799896240234, "output_transfer_ms": 0.06249174475669861, "total_ms": 307.4836917221546, "control_frequency_hz": 3.2522050011797377, "prefill_share": 0.30352824909036, "sample_share": 0.652028072902043, "other_share": 0.014123646483306029, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.447874501347542, "prefix_embed_ms": 38.82102584838867, "prefill_forward_ms": 55.10041427612305, "prefill_ms": 93.92144012451172, "step_ms": [19.98966407775879, 19.75641632080078, 19.891231536865234, 19.7475528717041, 19.489248275756836, 19.464351654052734, 19.61814308166504, 19.60163116455078, 21.55708885192871, 19.75017547607422], "step_mean_ms": 19.88655033111572, "step_p50_ms": 19.74886417388916, "step_p95_ms": 20.851747703552245, "sample_ms": 198.86550331115723, "sample_ms_from_mean": 198.86550331115723, "output_transfer_ms": 0.061081722378730774, "total_ms": 306.542344391346, "control_frequency_hz": 3.262192053712991, "prefill_share": 0.3063897756474626, "sample_share": 0.6487374646592917, "other_share": 0.013852718261101162, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.240921586751938, "prefix_embed_ms": 38.806175231933594, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 93.85641479492188, "step_ms": [22.873695373535156, 20.157983779907227, 20.272287368774414, 20.22800064086914, 20.68320083618164, 20.327327728271484, 20.516096115112305, 22.62131118774414, 19.989215850830078, 19.999040603637695], "step_mean_ms": 20.76681594848633, "step_p50_ms": 20.29980754852295, "step_p95_ms": 22.7601224899292, "sample_ms": 207.66815948486328, "sample_ms_from_mean": 207.66815948486328, "output_transfer_ms": 0.06353110074996948, "total_ms": 315.8872351050377, "control_frequency_hz": 3.1656866402578236, "prefill_share": 0.2971199984187809, "sample_share": 0.6574123180881627, "other_share": 0.01601270192532056, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.275933727622032, "prefix_embed_ms": 39.144737243652344, "prefill_forward_ms": 55.025665283203125, "prefill_ms": 94.17040252685547, "step_ms": [20.378175735473633, 20.626272201538086, 19.742431640625, 19.506175994873047, 19.611743927001953, 19.81692886352539, 19.727615356445312, 19.659072875976562, 19.47292709350586, 19.463647842407227], "step_mean_ms": 19.800499153137206, "step_p50_ms": 19.693344116210938, "step_p95_ms": 20.51462879180908, "sample_ms": 198.00499153137207, "sample_ms_from_mean": 198.00499153137207, "output_transfer_ms": 0.0638328492641449, "total_ms": 305.72064593434334, "control_frequency_hz": 3.2709599868330788, "prefill_share": 0.3080276186093089, "sample_share": 0.6476664044923407, "other_share": 0.01375597413899483, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.286539629101753, "prefix_embed_ms": 38.456607818603516, "prefill_forward_ms": 55.046142578125, "prefill_ms": 93.50275039672852, "step_ms": [20.25993537902832, 19.567007064819336, 19.791872024536133, 19.50943946838379, 19.64579200744629, 19.58847999572754, 19.681312561035156, 22.02022361755371, 19.891328811645508, 19.47222328186035], "step_mean_ms": 19.942761421203613, "step_p50_ms": 19.663552284240723, "step_p95_ms": 21.228093910217282, "sample_ms": 199.42761421203613, "sample_ms_from_mean": 199.42761421203613, "output_transfer_ms": 0.06836280226707458, "total_ms": 306.52260035276413, "control_frequency_hz": 3.2624021812719244, "prefill_share": 0.3050435768492114, "sample_share": 0.6506130836112025, "other_share": 0.013823885441902432, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.304799139499664, "prefix_embed_ms": 38.22947311401367, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.26742553710938, "step_ms": [20.319007873535156, 19.784448623657227, 22.422271728515625, 20.1977596282959, 20.398527145385742, 21.272960662841797, 20.544448852539062, 20.511104583740234, 20.2827205657959, 19.76518440246582], "step_mean_ms": 20.549843406677248, "step_p50_ms": 20.35876750946045, "step_p95_ms": 21.905081748962402, "sample_ms": 205.49843406677246, "sample_ms_from_mean": 205.49843406677246, "output_transfer_ms": 0.0594649463891983, "total_ms": 312.5131241977215, "control_frequency_hz": 3.1998656138592048, "prefill_share": 0.29844322786937016, "sample_share": 0.6575673728721783, "other_share": 0.014025012610919138, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.555874392390251, "prefix_embed_ms": 38.712703704833984, "prefill_forward_ms": 55.248897552490234, "prefill_ms": 93.96160125732422, "step_ms": [20.0795841217041, 19.841632843017578, 19.69094467163086, 20.864511489868164, 20.238239288330078, 19.984895706176758, 21.84943962097168, 19.550527572631836, 19.589088439941406, 19.536224365234375], "step_mean_ms": 20.122508811950684, "step_p50_ms": 19.913264274597168, "step_p95_ms": 21.406221961975096, "sample_ms": 201.22508811950684, "sample_ms_from_mean": 201.22508811950684, "output_transfer_ms": 0.06338022649288177, "total_ms": 309.2656657099724, "control_frequency_hz": 3.233465951366856, "prefill_share": 0.30382163840146703, "sample_share": 0.6506544709952207, "other_share": 0.014420358315625298, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.55495610833168, "prefix_embed_ms": 38.783294677734375, "prefill_forward_ms": 55.1649284362793, "prefill_ms": 93.94822311401367, "step_ms": [21.588544845581055, 21.85865592956543, 20.073984146118164, 19.765695571899414, 19.836511611938477, 19.567392349243164, 19.767967224121094, 20.203231811523438, 21.495424270629883, 19.795167922973633], "step_mean_ms": 20.395257568359376, "step_p50_ms": 19.95524787902832, "step_p95_ms": 21.737105941772462, "sample_ms": 203.95257568359375, "sample_ms_from_mean": 203.95257568359375, "output_transfer_ms": 0.06113387644290924, "total_ms": 311.96468509733677, "control_frequency_hz": 3.2054910307812174, "prefill_share": 0.3011501865498035, "sample_share": 0.6537681520584873, "other_share": 0.014257371194329228, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.212607517838478, "prefix_embed_ms": 38.32777786254883, "prefill_forward_ms": 55.0338249206543, "prefill_ms": 93.36160278320312, "step_ms": [20.555999755859375, 19.673952102661133, 20.6213436126709, 19.979488372802734, 19.780832290649414, 20.286943435668945, 19.700576782226562, 19.728927612304688, 20.231199264526367, 20.600255966186523], "step_mean_ms": 20.115951919555663, "step_p50_ms": 20.10534381866455, "step_p95_ms": 20.61185417175293, "sample_ms": 201.15951919555664, "sample_ms_from_mean": 201.15951919555664, "output_transfer_ms": 0.07083453238010406, "total_ms": 308.4330838173628, "control_frequency_hz": 3.2421943444696915, "prefill_share": 0.30269646053432697, "sample_share": 0.6521982554720761, "other_share": 0.015006560681166077, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.62442921102047, "prefix_embed_ms": 39.80192184448242, "prefill_forward_ms": 55.956478118896484, "prefill_ms": 95.7583999633789, "step_ms": [20.237695693969727, 19.736032485961914, 19.64646339416504, 19.84454345703125, 19.78540802001953, 19.810688018798828, 19.743072509765625, 19.629728317260742, 21.153247833251953, 20.87004852294922], "step_mean_ms": 20.04569282531738, "step_p50_ms": 19.79804801940918, "step_p95_ms": 21.025808143615723, "sample_ms": 200.45692825317383, "sample_ms_from_mean": 200.45692825317383, "output_transfer_ms": 0.06877072155475616, "total_ms": 311.64712086319923, "control_frequency_hz": 3.2087573831267977, "prefill_share": 0.30726547287890094, "sample_share": 0.6432176485312903, "other_share": 0.01520499435690705, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.728174656629562, "prefix_embed_ms": 38.149505615234375, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 93.2355842590332, "step_ms": [20.548831939697266, 19.865055084228516, 19.8189754486084, 19.876319885253906, 20.429536819458008, 19.806943893432617, 21.95145606994629, 19.784799575805664, 19.926912307739258, 19.984128952026367], "step_mean_ms": 20.19929599761963, "step_p50_ms": 19.901616096496582, "step_p95_ms": 21.320275211334227, "sample_ms": 201.9929599761963, "sample_ms_from_mean": 201.9929599761963, "output_transfer_ms": 0.06589852273464203, "total_ms": 309.61249209940434, "control_frequency_hz": 3.229843838726441, "prefill_share": 0.3011363773690983, "sample_share": 0.6524057172452342, "other_share": 0.014824578471262105, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.314265102148056, "prefix_embed_ms": 38.23539352416992, "prefill_forward_ms": 55.02259063720703, "prefill_ms": 93.25798416137695, "step_ms": [21.986848831176758, 20.05062484741211, 20.159231185913086, 19.838655471801758, 19.803136825561523, 20.39910316467285, 19.71833610534668, 19.623136520385742, 19.670560836791992, 20.304096221923828], "step_mean_ms": 20.15537300109863, "step_p50_ms": 19.944640159606934, "step_p95_ms": 21.272363281249998, "sample_ms": 201.55373001098633, "sample_ms_from_mean": 201.55373001098633, "output_transfer_ms": 0.06566382944583893, "total_ms": 308.6435738950968, "control_frequency_hz": 3.239983218765749, "prefill_share": 0.3021543036987834, "sample_share": 0.6530307029152382, "other_share": 0.014424181054398837, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.805556386709213, "prefix_embed_ms": 38.80854415893555, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 93.94275283813477, "step_ms": [20.772064208984375, 20.021791458129883, 20.176095962524414, 19.919519424438477, 20.230335235595703, 20.132671356201172, 19.845823287963867, 20.07948875427246, 23.34547233581543, 20.37868881225586], "step_mean_ms": 20.490195083618165, "step_p50_ms": 20.154383659362793, "step_p95_ms": 22.18743867874145, "sample_ms": 204.90195083618164, "sample_ms_from_mean": 204.90195083618164, "output_transfer_ms": 0.06935186684131622, "total_ms": 313.45924735069275, "control_frequency_hz": 3.1902073665136363, "prefill_share": 0.29969686213478736, "sample_share": 0.6536797129706016, "other_share": 0.015120419840487882, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.635312482714653, "prefix_embed_ms": 39.35747146606445, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 94.4425277709961, "step_ms": [20.4703369140625, 20.478912353515625, 20.146207809448242, 20.129440307617188, 20.076095581054688, 21.365215301513672, 20.083871841430664, 19.92483139038086, 20.09177589416504, 20.42207908630371], "step_mean_ms": 20.318876647949217, "step_p50_ms": 20.137824058532715, "step_p95_ms": 20.96637897491455, "sample_ms": 203.1887664794922, "sample_ms_from_mean": 203.1887664794922, "output_transfer_ms": 0.08174218237400055, "total_ms": 312.1248409152031, "control_frequency_hz": 3.203846246482113, "prefill_share": 0.3025793381073885, "sample_share": 0.6509855668126516, "other_share": 0.015303145964354113, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.159237310290337, "prefix_embed_ms": 39.58406448364258, "prefill_forward_ms": 55.14137649536133, "prefill_ms": 94.7254409790039, "step_ms": [20.512319564819336, 20.067903518676758, 22.672832489013672, 19.896255493164062, 20.170080184936523, 20.070335388183594, 20.57161521911621, 20.69321632385254, 20.603008270263672, 20.20297622680664], "step_mean_ms": 20.5460542678833, "step_p50_ms": 20.35764789581299, "step_p95_ms": 21.78200521469116, "sample_ms": 205.460542678833, "sample_ms_from_mean": 205.460542678833, "output_transfer_ms": 0.0637546181678772, "total_ms": 315.2271993458271, "control_frequency_hz": 3.1723150859927145, "prefill_share": 0.30049894544500655, "sample_share": 0.6517855791163119, "other_share": 0.015284923920051817, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.813301265239716, "prefix_embed_ms": 40.06768035888672, "prefill_forward_ms": 55.14547348022461, "prefill_ms": 95.21315383911133, "step_ms": [20.737695693969727, 20.332639694213867, 20.368288040161133, 20.228063583374023, 20.498111724853516, 20.34111976623535, 20.167552947998047, 20.035743713378906, 21.995424270629883, 20.75619125366211], "step_mean_ms": 20.546083068847658, "step_p50_ms": 20.354703903198242, "step_p95_ms": 21.437769412994385, "sample_ms": 205.46083068847656, "sample_ms_from_mean": 205.46083068847656, "output_transfer_ms": 0.07552281022071838, "total_ms": 315.4808674007654, "control_frequency_hz": 3.1697643290985, "prefill_share": 0.301803258700183, "sample_share": 0.6512624121432794, "other_share": 0.0155890873454127, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.846869856119156, "prefix_embed_ms": 39.053470611572266, "prefill_forward_ms": 55.179264068603516, "prefill_ms": 94.23273468017578, "step_ms": [20.517919540405273, 20.284608840942383, 20.498271942138672, 23.09440040588379, 20.482847213745117, 20.47648048400879, 20.44540786743164, 20.451967239379883, 20.5797119140625, 20.589855194091797], "step_mean_ms": 20.742147064208986, "step_p50_ms": 20.490559577941895, "step_p95_ms": 21.96735506057739, "sample_ms": 207.42147064208984, "sample_ms_from_mean": 207.42147064208984, "output_transfer_ms": 0.06386823952198029, "total_ms": 316.45330786705017, "control_frequency_hz": 3.160023849142777, "prefill_share": 0.29777768895929907, "sample_share": 0.6554567940532722, "other_share": 0.015447348242594867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.81486588716507, "prefix_embed_ms": 40.29449462890625, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 95.42972564697266, "step_ms": [20.927839279174805, 20.09507179260254, 20.888256072998047, 20.496288299560547, 23.19977569580078, 29.365856170654297, 28.794208526611328, 28.02364730834961, 23.698911666870117, 20.81648063659668], "step_mean_ms": 23.630633544921874, "step_p50_ms": 22.063807487487793, "step_p95_ms": 29.10861473083496, "sample_ms": 236.30633544921875, "sample_ms_from_mean": 236.30633544921875, "output_transfer_ms": 0.0735800713300705, "total_ms": 346.83118015527725, "control_frequency_hz": 2.8832471162261055, "prefill_share": 0.27514748127388233, "sample_share": 0.6813295602299186, "other_share": 0.015012125202410189, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.802790522575378, "prefix_embed_ms": 41.203487396240234, "prefill_forward_ms": 55.20793533325195, "prefill_ms": 96.41142272949219, "step_ms": [20.84432029724121, 21.244735717773438, 24.767200469970703, 21.16316795349121, 20.48931121826172, 19.941728591918945, 19.910367965698242, 20.179744720458984, 20.20240020751953, 19.807584762573242], "step_mean_ms": 20.85505619049072, "step_p50_ms": 20.345855712890625, "step_p95_ms": 23.18209133148193, "sample_ms": 208.55056190490723, "sample_ms_from_mean": 208.55056190490723, "output_transfer_ms": 0.06568804383277893, "total_ms": 320.67604921758175, "control_frequency_hz": 3.1184118752862973, "prefill_share": 0.3006505255528957, "sample_share": 0.6503465488418927, "other_share": 0.015110532977429822, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.353986009955406, "prefix_embed_ms": 38.367679595947266, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.44044876098633, "step_ms": [20.332256317138672, 19.91244888305664, 20.081504821777344, 19.877023696899414, 19.757728576660156, 19.718463897705078, 19.716415405273438, 23.487327575683594, 19.866943359375, 19.773632049560547], "step_mean_ms": 20.25237445831299, "step_p50_ms": 19.871983528137207, "step_p95_ms": 22.067545509338377, "sample_ms": 202.52374458312988, "sample_ms_from_mean": 202.52374458312988, "output_transfer_ms": 0.06136484444141388, "total_ms": 309.922868385911, "control_frequency_hz": 3.2266092696161293, "prefill_share": 0.30149581812928944, "sample_share": 0.6534649915892963, "other_share": 0.014659531937929415, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.549733251333237, "prefix_embed_ms": 38.977439880371094, "prefill_forward_ms": 55.2355842590332, "prefill_ms": 94.2130241394043, "step_ms": [22.8022403717041, 20.400672912597656, 19.969472885131836, 20.01100730895996, 19.793567657470703, 19.829631805419922, 19.612512588500977, 19.60758399963379, 19.898656845092773, 19.61190414428711], "step_mean_ms": 20.15372505187988, "step_p50_ms": 19.864144325256348, "step_p95_ms": 21.7215350151062, "sample_ms": 201.53725051879883, "sample_ms_from_mean": 201.53725051879883, "output_transfer_ms": 0.06517022848129272, "total_ms": 309.81793999671936, "control_frequency_hz": 3.2277020498250972, "prefill_share": 0.3040915711349766, "sample_share": 0.6505021966156411, "other_share": 0.014372188578714506, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.119158938527107, "prefix_embed_ms": 38.0805778503418, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.12979507446289, "step_ms": [20.915264129638672, 20.120447158813477, 20.688671112060547, 21.791263580322266, 20.157440185546875, 20.457759857177734, 20.35603141784668, 20.765247344970703, 20.347871780395508, 20.325632095336914], "step_mean_ms": 20.592562866210937, "step_p50_ms": 20.406895637512207, "step_p95_ms": 21.397063827514646, "sample_ms": 205.92562866210938, "sample_ms_from_mean": 205.92562866210938, "output_transfer_ms": 0.0604875385761261, "total_ms": 315.29783457517624, "control_frequency_hz": 3.1716044017472336, "prefill_share": 0.2953708679919843, "sample_share": 0.6531146302973123, "other_share": 0.016057085733944768, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.589361026883125, "prefix_embed_ms": 38.843807220458984, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 93.91350173950195, "step_ms": [20.048288345336914, 19.72604751586914, 20.508256912231445, 19.80099105834961, 19.9683837890625, 19.555200576782227, 19.649471282958984, 19.89094352722168, 19.658464431762695, 21.72118377685547], "step_mean_ms": 20.052723121643066, "step_p50_ms": 19.845967292785645, "step_p95_ms": 21.175366687774655, "sample_ms": 200.52723121643066, "sample_ms_from_mean": 200.52723121643066, "output_transfer_ms": 0.05865655839443207, "total_ms": 308.50959941744804, "control_frequency_hz": 3.2413902254201434, "prefill_share": 0.30441030657339924, "sample_share": 0.6499870071955034, "other_share": 0.014329696335497053, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.205909445881844, "prefix_embed_ms": 37.61190414428711, "prefill_forward_ms": 55.0830078125, "prefill_ms": 92.69491195678711, "step_ms": [20.246912002563477, 19.999584197998047, 19.914207458496094, 22.363008499145508, 20.078208923339844, 20.243616104125977, 19.757568359375, 20.019487380981445, 20.000032424926758, 19.76585578918457], "step_mean_ms": 20.23884811401367, "step_p50_ms": 20.0097599029541, "step_p95_ms": 21.410765075683592, "sample_ms": 202.38848114013672, "sample_ms_from_mean": 202.38848114013672, "output_transfer_ms": 0.08618645370006561, "total_ms": 308.6840473115444, "control_frequency_hz": 3.2395584051375796, "prefill_share": 0.3002905811430976, "sample_share": 0.6556493051805584, "other_share": 0.013957826303508968, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.448684751987457, "prefix_embed_ms": 38.09247970581055, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 93.14579010009766, "step_ms": [20.245983123779297, 19.69049644470215, 19.714784622192383, 19.76896095275879, 19.63654327392578, 19.619295120239258, 19.866016387939453, 20.68560028076172, 21.328096389770508, 21.947168350219727], "step_mean_ms": 20.250294494628907, "step_p50_ms": 19.81748867034912, "step_p95_ms": 21.668585968017577, "sample_ms": 202.50294494628906, "sample_ms_from_mean": 202.50294494628906, "output_transfer_ms": 0.08054077625274658, "total_ms": 309.80675481259823, "control_frequency_hz": 3.22781858195732, "prefill_share": 0.3006577121161914, "sample_share": 0.6536427685987121, "other_share": 0.014940908053380756, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.44490171968937, "prefix_embed_ms": 39.45481491088867, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 94.55420684814453, "step_ms": [20.261184692382812, 21.653568267822266, 20.091232299804688, 19.97648048400879, 19.956544876098633, 19.80246353149414, 19.639007568359375, 20.547359466552734, 21.967039108276367, 20.186656951904297], "step_mean_ms": 20.40815372467041, "step_p50_ms": 20.138944625854492, "step_p95_ms": 21.82597723007202, "sample_ms": 204.0815372467041, "sample_ms_from_mean": 204.0815372467041, "output_transfer_ms": 0.06471388041973114, "total_ms": 312.6622438430786, "control_frequency_hz": 3.1983394851534674, "prefill_share": 0.30241645324978905, "sample_share": 0.6527220387669518, "other_share": 0.014446528920798795, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.788980707526207, "prefix_embed_ms": 39.4854736328125, "prefill_forward_ms": 55.13932800292969, "prefill_ms": 94.62480163574219, "step_ms": [20.770591735839844, 20.205280303955078, 19.866912841796875, 22.202783584594727, 19.77017593383789, 19.70966339111328, 19.70035171508789, 19.684959411621094, 19.83171272277832, 20.055744171142578], "step_mean_ms": 20.179817581176756, "step_p50_ms": 19.849312782287598, "step_p95_ms": 21.558297252655027, "sample_ms": 201.79817581176758, "sample_ms_from_mean": 201.79817581176758, "output_transfer_ms": 0.06340257823467255, "total_ms": 311.34240701794624, "control_frequency_hz": 3.2118978252209582, "prefill_share": 0.3039251945858049, "sample_share": 0.6481551220233729, "other_share": 0.01627483494204349, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.183468297123909, "prefix_embed_ms": 37.93913650512695, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 92.98015975952148, "step_ms": [20.175968170166016, 19.78531265258789, 19.922399520874023, 19.752031326293945, 19.528928756713867, 19.53971290588379, 19.51535987854004, 21.29520034790039, 20.063199996948242, 19.674976348876953], "step_mean_ms": 19.925308990478516, "step_p50_ms": 19.768671989440918, "step_p95_ms": 20.791545867919922, "sample_ms": 199.25308990478516, "sample_ms_from_mean": 199.25308990478516, "output_transfer_ms": 0.09411200881004333, "total_ms": 305.9392999857664, "control_frequency_hz": 3.268622239923162, "prefill_share": 0.30391701806158056, "sample_share": 0.65128308103619, "other_share": 0.014474995581580559, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.175779297947884, "prefix_embed_ms": 38.94908905029297, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 94.01571273803711, "step_ms": [20.24985694885254, 26.620927810668945, 24.68662452697754, 20.11471939086914, 19.779808044433594, 19.772672653198242, 19.666303634643555, 20.116607666015625, 24.704927444458008, 24.445695877075195], "step_mean_ms": 22.01581439971924, "step_p50_ms": 20.183232307434082, "step_p95_ms": 25.75872764587402, "sample_ms": 220.15814399719238, "sample_ms_from_mean": 220.15814399719238, "output_transfer_ms": 0.07677637040615082, "total_ms": 327.96492613852024, "control_frequency_hz": 3.049106536403338, "prefill_share": 0.28666392423416753, "sample_share": 0.6712856359042666, "other_share": 0.013838411894751861, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.288972243666649, "prefix_embed_ms": 40.172000885009766, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 95.2130241394043, "step_ms": [20.11667251586914, 19.8623046875, 19.613248825073242, 19.52911949157715, 22.074848175048828, 19.857023239135742, 19.83807945251465, 20.426015853881836, 19.84592056274414, 19.739999771118164], "step_mean_ms": 20.09032325744629, "step_p50_ms": 19.85147190093994, "step_p95_ms": 21.33287363052368, "sample_ms": 200.9032325744629, "sample_ms_from_mean": 200.9032325744629, "output_transfer_ms": 0.05883164703845978, "total_ms": 309.82086807489395, "control_frequency_hz": 3.2276715452177576, "prefill_share": 0.30731636874888674, "sample_share": 0.6484496471228591, "other_share": 0.014062343499949366, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.428048506379128, "prefix_embed_ms": 38.62313461303711, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 93.70819091796875, "step_ms": [20.208511352539062, 19.69094467163086, 21.514528274536133, 19.842496871948242, 19.52182388305664, 19.52079963684082, 20.23369598388672, 19.756288528442383, 19.573087692260742, 19.77788734436035], "step_mean_ms": 19.964006423950195, "step_p50_ms": 19.767087936401367, "step_p95_ms": 20.938153743743896, "sample_ms": 199.64006423950195, "sample_ms_from_mean": 199.64006423950195, "output_transfer_ms": 0.060016289353370667, "total_ms": 307.12960101664066, "control_frequency_hz": 3.255954478792875, "prefill_share": 0.3051096039189382, "sample_share": 0.6500189613071037, "other_share": 0.013978727707215843, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.399427101016045, "prefix_embed_ms": 39.955039978027344, "prefill_forward_ms": 55.256065368652344, "prefill_ms": 95.21110534667969, "step_ms": [20.169727325439453, 20.13497543334961, 20.001632690429688, 19.82204818725586, 19.720191955566406, 19.6395206451416, 21.041311264038086, 20.128192901611328, 19.627840042114258, 19.64031982421875], "step_mean_ms": 19.992576026916502, "step_p50_ms": 19.911840438842773, "step_p95_ms": 20.6490984916687, "sample_ms": 199.92576026916504, "sample_ms_from_mean": 199.92576026916504, "output_transfer_ms": 0.05885772407054901, "total_ms": 308.95806662738323, "control_frequency_hz": 3.23668519458352, "prefill_share": 0.30816837503552996, "sample_share": 0.6470967482790606, "other_share": 0.014121386225897694, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.439371526241302, "prefix_embed_ms": 38.19798278808594, "prefill_forward_ms": 55.1833610534668, "prefill_ms": 93.38134384155273, "step_ms": [22.285600662231445, 19.740192413330078, 20.656320571899414, 19.91801643371582, 19.729440689086914, 20.310047149658203, 20.19830322265625, 20.338272094726562, 20.30179214477539, 21.76652717590332], "step_mean_ms": 20.52445125579834, "step_p50_ms": 20.305919647216797, "step_p95_ms": 22.052017593383788, "sample_ms": 205.2445125579834, "sample_ms_from_mean": 205.2445125579834, "output_transfer_ms": 0.07968954741954803, "total_ms": 312.65896931290627, "control_frequency_hz": 3.1983729819028768, "prefill_share": 0.29866836715660483, "sample_share": 0.6564485036492798, "other_share": 0.014437621443035143, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.270789101719856, "prefix_embed_ms": 38.899166107177734, "prefill_forward_ms": 55.09222412109375, "prefill_ms": 93.99139022827148, "step_ms": [20.106496810913086, 19.6092472076416, 19.89446449279785, 21.408159255981445, 19.988895416259766, 19.70070457458496, 19.665023803710938, 19.726560592651367, 19.653696060180664, 19.531328201293945], "step_mean_ms": 19.92845764160156, "step_p50_ms": 19.713632583618164, "step_p95_ms": 20.82241115570068, "sample_ms": 199.28457641601562, "sample_ms_from_mean": 199.28457641601562, "output_transfer_ms": 0.05911476910114288, "total_ms": 306.882718577981, "control_frequency_hz": 3.258573844215647, "prefill_share": 0.3062778857793116, "sample_share": 0.6493835082648228, "other_share": 0.013936425233361945, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.241914376616478, "prefix_embed_ms": 38.71830368041992, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 93.7613754272461, "step_ms": [20.039392471313477, 19.86079978942871, 19.906784057617188, 20.197952270507812, 20.038015365600586, 20.286815643310547, 20.358015060424805, 21.909183502197266, 19.868192672729492, 20.016416549682617], "step_mean_ms": 20.24815673828125, "step_p50_ms": 20.03870391845703, "step_p95_ms": 21.211157703399657, "sample_ms": 202.4815673828125, "sample_ms_from_mean": 202.4815673828125, "output_transfer_ms": 0.060891732573509216, "total_ms": 309.97672118246555, "control_frequency_hz": 3.2260487051585955, "prefill_share": 0.30247876379095623, "sample_share": 0.6532153982738051, "other_share": 0.014294532332344765, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.50026698410511, "prefix_embed_ms": 39.12972640991211, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 94.2321891784668, "step_ms": [20.200159072875977, 20.160480499267578, 22.46940803527832, 19.68659210205078, 19.72208023071289, 19.908000946044922, 19.826208114624023, 20.150848388671875, 20.36636734008789, 21.089183807373047], "step_mean_ms": 20.35793285369873, "step_p50_ms": 20.155664443969727, "step_p95_ms": 21.848307132720947, "sample_ms": 203.5793285369873, "sample_ms_from_mean": 203.5793285369873, "output_transfer_ms": 0.09812414646148682, "total_ms": 312.42325343191624, "control_frequency_hz": 3.2007860779092794, "prefill_share": 0.30161707921334996, "sample_share": 0.6516138805313082, "other_share": 0.0160466435542963, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.22944988310337, "prefix_embed_ms": 39.64652633666992, "prefill_forward_ms": 55.10451126098633, "prefill_ms": 94.75103759765625, "step_ms": [23.262432098388672, 22.284704208374023, 22.170303344726562, 20.385183334350586, 20.540191650390625, 20.926015853881836, 20.43654441833496, 21.83024024963379, 20.35456085205078, 20.241439819335938], "step_mean_ms": 21.243161582946776, "step_p50_ms": 20.73310375213623, "step_p95_ms": 22.822454547882078, "sample_ms": 212.43161582946777, "sample_ms_from_mean": 212.43161582946777, "output_transfer_ms": 0.061884522438049316, "total_ms": 323.1533635407686, "control_frequency_hz": 3.094505930692073, "prefill_share": 0.29320764778517483, "sample_share": 0.657370895050788, "other_share": 0.014480355880661709, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.424787014722824, "prefix_embed_ms": 38.29359817504883, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.35715103149414, "step_ms": [20.282047271728516, 21.898176193237305, 19.841279983520508, 19.853759765625, 20.05251121520996, 19.805055618286133, 19.73891258239746, 20.029504776000977, 19.728384017944336, 19.811616897583008], "step_mean_ms": 20.10412483215332, "step_p50_ms": 19.847519874572754, "step_p95_ms": 21.17091817855835, "sample_ms": 201.0412483215332, "sample_ms_from_mean": 201.0412483215332, "output_transfer_ms": 0.05937553942203522, "total_ms": 308.33507515490055, "control_frequency_hz": 3.2432249217758398, "prefill_share": 0.3027782388513328, "sample_share": 0.6520219868613217, "other_share": 0.01444050192956966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.810818523168564, "prefix_embed_ms": 38.6446418762207, "prefill_forward_ms": 55.067649841308594, "prefill_ms": 93.7122917175293, "step_ms": [21.393312454223633, 20.566495895385742, 20.054367065429688, 19.700672149658203, 20.116640090942383, 22.128639221191406, 20.10518455505371, 19.74947166442871, 19.60201644897461, 19.96713638305664], "step_mean_ms": 20.33839359283447, "step_p50_ms": 20.0797758102417, "step_p95_ms": 21.79774217605591, "sample_ms": 203.38393592834473, "sample_ms_from_mean": 203.38393592834473, "output_transfer_ms": 0.06039068102836609, "total_ms": 312.4277554452419, "control_frequency_hz": 3.2007399553054956, "prefill_share": 0.2999486764035403, "sample_share": 0.6509790899931459, "other_share": 0.014276319940955818, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.535972028970718, "prefix_embed_ms": 38.00252914428711, "prefill_forward_ms": 55.15571212768555, "prefill_ms": 93.15824127197266, "step_ms": [21.898591995239258, 20.00601577758789, 19.92211151123047, 20.424863815307617, 19.79462432861328, 19.911264419555664, 19.874176025390625, 20.018400192260742, 19.841888427734375, 21.814048767089844], "step_mean_ms": 20.350598526000976, "step_p50_ms": 19.96406364440918, "step_p95_ms": 21.86054754257202, "sample_ms": 203.50598526000977, "sample_ms_from_mean": 203.50598526000977, "output_transfer_ms": 0.06718188524246216, "total_ms": 310.82790344953537, "control_frequency_hz": 3.217214377802331, "prefill_share": 0.29971003323096895, "sample_share": 0.6547223817473327, "other_share": 0.01467218017664297, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.552940726280212, "prefix_embed_ms": 38.19267272949219, "prefill_forward_ms": 55.016448974609375, "prefill_ms": 93.20912170410156, "step_ms": [20.134431838989258, 19.760639190673828, 19.615615844726562, 20.685087203979492, 19.91187286376953, 20.18828773498535, 19.74982452392578, 19.68592071533203, 19.786527633666992, 19.790912628173828], "step_mean_ms": 19.930912017822266, "step_p50_ms": 19.78872013092041, "step_p95_ms": 20.461527442932127, "sample_ms": 199.30912017822266, "sample_ms_from_mean": 199.30912017822266, "output_transfer_ms": 0.06408803164958954, "total_ms": 308.25332552194595, "control_frequency_hz": 3.2440850339789944, "prefill_share": 0.3023783167506025, "sample_share": 0.6465757339056929, "other_share": 0.019847490278758925, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.626520797610283, "prefix_embed_ms": 39.08585739135742, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 94.22108840942383, "step_ms": [20.673952102661133, 20.192031860351562, 19.939424514770508, 19.657920837402344, 19.672607421875, 20.16431999206543, 19.929759979248047, 21.386560440063477, 19.756256103515625, 19.733856201171875], "step_mean_ms": 20.1106689453125, "step_p50_ms": 19.934592247009277, "step_p95_ms": 21.06588668823242, "sample_ms": 201.106689453125, "sample_ms_from_mean": 201.106689453125, "output_transfer_ms": 0.06007589399814606, "total_ms": 309.495996683836, "control_frequency_hz": 3.2310595636606725, "prefill_share": 0.3044339488037866, "sample_share": 0.6497876922736564, "other_share": 0.014480388042811758, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.413104504346848, "prefix_embed_ms": 38.128543853759766, "prefill_forward_ms": 55.0195198059082, "prefill_ms": 93.14806365966797, "step_ms": [20.540191650390625, 19.793567657470703, 21.762880325317383, 19.876256942749023, 20.192991256713867, 19.777759552001953, 19.83776092529297, 20.425983428955078, 19.885311126708984, 19.948959350585938], "step_mean_ms": 20.204166221618653, "step_p50_ms": 19.91713523864746, "step_p95_ms": 21.21267042160034, "sample_ms": 202.04166221618652, "sample_ms_from_mean": 202.04166221618652, "output_transfer_ms": 0.06464309990406036, "total_ms": 309.21539291739464, "control_frequency_hz": 3.2339916540543796, "prefill_share": 0.30124006046669227, "sample_share": 0.6534010493784214, "other_share": 0.014707933503505086, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.793408378958702, "prefix_embed_ms": 40.666465759277344, "prefill_forward_ms": 55.11782455444336, "prefill_ms": 95.7842903137207, "step_ms": [20.315584182739258, 19.855871200561523, 19.998624801635742, 21.439199447631836, 19.84182357788086, 20.129919052124023, 19.890335083007812, 20.49331283569336, 19.869760513305664, 20.272703170776367], "step_mean_ms": 20.210713386535645, "step_p50_ms": 20.064271926879883, "step_p95_ms": 21.01355047225952, "sample_ms": 202.10713386535645, "sample_ms_from_mean": 202.10713386535645, "output_transfer_ms": 0.06691552698612213, "total_ms": 313.39230202138424, "control_frequency_hz": 3.190888842993231, "prefill_share": 0.305637023296076, "sample_share": 0.6449013985403053, "other_share": 0.014807491780846676, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.745866060256958, "prefix_embed_ms": 39.08108901977539, "prefill_forward_ms": 55.204864501953125, "prefill_ms": 94.28595352172852, "step_ms": [21.419647216796875, 20.24675178527832, 20.45199966430664, 20.200319290161133, 20.245792388916016, 19.798336029052734, 20.054655075073242, 19.821504592895508, 19.6977596282959, 20.35683250427246], "step_mean_ms": 20.229359817504882, "step_p50_ms": 20.223055839538574, "step_p95_ms": 20.984205818176267, "sample_ms": 202.29359817504883, "sample_ms_from_mean": 202.29359817504883, "output_transfer_ms": 0.05747377872467041, "total_ms": 310.85527688264847, "control_frequency_hz": 3.216931074898599, "prefill_share": 0.3033114138104935, "sample_share": 0.6507645622223651, "other_share": 0.01438735540132997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.269591584801674, "prefix_embed_ms": 39.22982406616211, "prefill_forward_ms": 55.21100616455078, "prefill_ms": 94.44083023071289, "step_ms": [20.517152786254883, 19.921152114868164, 20.234848022460938, 20.28009605407715, 20.034496307373047, 20.103519439697266, 19.994144439697266, 20.225439071655273, 20.04400062561035, 19.846431732177734], "step_mean_ms": 20.120128059387206, "step_p50_ms": 20.07376003265381, "step_p95_ms": 20.410477256774904, "sample_ms": 201.20128059387207, "sample_ms_from_mean": 201.20128059387207, "output_transfer_ms": 0.08501112461090088, "total_ms": 311.54690869152546, "control_frequency_hz": 3.209789511954806, "prefill_share": 0.3031351863748466, "sample_share": 0.6458137602420866, "other_share": 0.017814958205935483, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.971819818019867, "prefix_embed_ms": 39.30390548706055, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 94.37360000610352, "step_ms": [20.30678367614746, 19.748735427856445, 21.06483268737793, 22.118431091308594, 22.1823673248291, 22.858463287353516, 22.004255294799805, 21.058687210083008, 19.934368133544922, 19.906112670898438], "step_mean_ms": 21.11830368041992, "step_p50_ms": 21.06175994873047, "step_p95_ms": 22.554220104217528, "sample_ms": 211.18303680419922, "sample_ms_from_mean": 211.18303680419922, "output_transfer_ms": 0.07243826985359192, "total_ms": 320.0945761054754, "control_frequency_hz": 3.124076678108056, "prefill_share": 0.29483036280816627, "sample_share": 0.659752000092034, "other_share": 0.014038604658575985, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.577522054314613, "prefix_embed_ms": 37.93017578125, "prefill_forward_ms": 55.13113784790039, "prefill_ms": 93.06131362915039, "step_ms": [20.630687713623047, 20.801088333129883, 20.1363525390625, 19.96828842163086, 20.236608505249023, 20.235103607177734, 19.88812828063965, 19.957056045532227, 19.823776245117188, 20.91993522644043], "step_mean_ms": 20.259702491760255, "step_p50_ms": 20.185728073120117, "step_p95_ms": 20.866454124450684, "sample_ms": 202.59702491760254, "sample_ms_from_mean": 202.59702491760254, "output_transfer_ms": 0.06604939699172974, "total_ms": 309.9784031510353, "control_frequency_hz": 3.2260312003502882, "prefill_share": 0.30021870131322265, "sample_share": 0.6535843234823305, "other_share": 0.015086512819725185, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.783245623111725, "prefix_embed_ms": 38.35785675048828, "prefill_forward_ms": 55.09324645996094, "prefill_ms": 93.45110321044922, "step_ms": [20.66752052307129, 19.96076774597168, 20.9420166015625, 22.693279266357422, 20.00771141052246, 20.073823928833008, 20.081279754638672, 20.256799697875977, 20.35094451904297, 20.644575119018555], "step_mean_ms": 20.567871856689454, "step_p50_ms": 20.303872108459473, "step_p95_ms": 21.905211067199705, "sample_ms": 205.67871856689453, "sample_ms_from_mean": 205.67871856689453, "output_transfer_ms": 0.07325969636440277, "total_ms": 313.73946368694305, "control_frequency_hz": 3.187358033472718, "prefill_share": 0.2978621245547134, "sample_share": 0.6555717159385656, "other_share": 0.015149948094722228, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.982507675886154, "prefix_embed_ms": 39.311519622802734, "prefill_forward_ms": 55.13113784790039, "prefill_ms": 94.44265747070312, "step_ms": [20.553600311279297, 20.039552688598633, 19.829248428344727, 19.84435272216797, 20.10163116455078, 19.769439697265625, 19.77574348449707, 20.313983917236328, 21.9215030670166, 20.029216766357422], "step_mean_ms": 20.217827224731444, "step_p50_ms": 20.034384727478027, "step_p95_ms": 21.305946826934814, "sample_ms": 202.17827224731445, "sample_ms_from_mean": 202.17827224731445, "output_transfer_ms": 0.06162002682685852, "total_ms": 311.2303800880909, "control_frequency_hz": 3.213053943246026, "prefill_share": 0.3034493529968765, "sample_share": 0.6496096948829023, "other_share": 0.014668627998552498, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.65883955359459, "prefix_embed_ms": 38.43609619140625, "prefill_forward_ms": 55.09632110595703, "prefill_ms": 93.53241729736328, "step_ms": [21.269472122192383, 20.744096755981445, 20.13680076599121, 20.217727661132812, 20.202016830444336, 20.130592346191406, 20.177471160888672, 20.094783782958984, 20.23638343811035, 19.997983932495117], "step_mean_ms": 20.320732879638673, "step_p50_ms": 20.189743995666504, "step_p95_ms": 21.03305320739746, "sample_ms": 203.20732879638672, "sample_ms_from_mean": 203.20732879638672, "output_transfer_ms": 0.05990266799926758, "total_ms": 310.9714649617672, "control_frequency_hz": 3.215729134899713, "prefill_share": 0.300774919360729, "sample_share": 0.6534597276356862, "other_share": 0.014512510487025534, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.809942916035652, "prefix_embed_ms": 38.56719970703125, "prefill_forward_ms": 55.19462585449219, "prefill_ms": 93.76182556152344, "step_ms": [20.38140869140625, 19.97327995300293, 21.673280715942383, 20.544448852539062, 20.94633674621582, 20.221664428710938, 20.14998435974121, 20.16582489013672, 20.7063045501709, 22.70128059387207], "step_mean_ms": 20.74638137817383, "step_p50_ms": 20.462928771972656, "step_p95_ms": 22.238680648803708, "sample_ms": 207.46381378173828, "sample_ms_from_mean": 207.46381378173828, "output_transfer_ms": 0.06831251084804535, "total_ms": 315.6340103596449, "control_frequency_hz": 3.168226386188749, "prefill_share": 0.2970586897612453, "sample_share": 0.6572923290026523, "other_share": 0.014352431743137233, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.418273508548737, "prefix_embed_ms": 40.72742462158203, "prefill_forward_ms": 55.2017936706543, "prefill_ms": 95.92921829223633, "step_ms": [21.509824752807617, 20.062559127807617, 21.789920806884766, 20.129919052124023, 20.01024055480957, 19.93951988220215, 19.945247650146484, 19.779552459716797, 19.89423942565918, 19.91472053527832], "step_mean_ms": 20.29757442474365, "step_p50_ms": 19.977744102478027, "step_p95_ms": 21.66387758255005, "sample_ms": 202.97574424743652, "sample_ms_from_mean": 202.97574424743652, "output_transfer_ms": 0.06499700248241425, "total_ms": 313.93733248114586, "control_frequency_hz": 3.1853491016716116, "prefill_share": 0.30556804931123493, "sample_share": 0.6465486045996987, "other_share": 0.014490469784172807, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.450690820813179, "prefix_embed_ms": 38.44243240356445, "prefill_forward_ms": 55.13932800292969, "prefill_ms": 93.58176040649414, "step_ms": [20.23721694946289, 19.893951416015625, 19.9649600982666, 19.949312210083008, 19.919872283935547, 20.217344284057617, 20.06492805480957, 21.836383819580078, 20.227264404296875, 20.21721649169922], "step_mean_ms": 20.252845001220702, "step_p50_ms": 20.141072273254395, "step_p95_ms": 21.116758728027342, "sample_ms": 202.52845001220703, "sample_ms_from_mean": 202.52845001220703, "output_transfer_ms": 0.06031990051269531, "total_ms": 310.115871950984, "control_frequency_hz": 3.2246011586213075, "prefill_share": 0.3017638530326026, "sample_share": 0.6530734745631404, "other_share": 0.014493456212609996, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.57326591014862, "prefix_embed_ms": 39.09360122680664, "prefill_forward_ms": 55.151615142822266, "prefill_ms": 94.2452163696289, "step_ms": [20.243839263916016, 20.389184951782227, 20.718687057495117, 20.041536331176758, 20.635295867919922, 20.187999725341797, 20.177440643310547, 20.065248489379883, 20.048511505126953, 19.996864318847656], "step_mean_ms": 20.250460815429687, "step_p50_ms": 20.182720184326172, "step_p95_ms": 20.68116102218628, "sample_ms": 202.50460815429688, "sample_ms_from_mean": 202.50460815429688, "output_transfer_ms": 0.0615827739238739, "total_ms": 310.98952516913414, "control_frequency_hz": 3.2155423866966, "prefill_share": 0.30304948797993403, "sample_share": 0.6511621510215275, "other_share": 0.014807096665495336, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.962644428014755, "prefix_embed_ms": 38.48758316040039, "prefill_forward_ms": 55.420928955078125, "prefill_ms": 93.90851211547852, "step_ms": [20.6646728515625, 20.03183937072754, 20.408672332763672, 20.16547203063965, 20.21392059326172, 20.198272705078125, 19.840831756591797, 20.47248077392578, 21.342304229736328, 19.815359115600586], "step_mean_ms": 20.31538257598877, "step_p50_ms": 20.206096649169922, "step_p95_ms": 21.037370109558104, "sample_ms": 203.1538257598877, "sample_ms_from_mean": 203.1538257598877, "output_transfer_ms": 0.06690621376037598, "total_ms": 311.72510981559753, "control_frequency_hz": 3.207954600101207, "prefill_share": 0.30125424342950924, "sample_share": 0.6517082498745908, "other_share": 0.014863163577669428, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.571699425578117, "prefix_embed_ms": 38.569087982177734, "prefill_forward_ms": 55.170047760009766, "prefill_ms": 93.7391357421875, "step_ms": [20.30860710144043, 19.761823654174805, 21.818368911743164, 20.099584579467773, 19.78883171081543, 20.200735092163086, 19.953088760375977, 19.834047317504883, 19.84636878967285, 19.855520248413086], "step_mean_ms": 20.14669761657715, "step_p50_ms": 19.90430450439453, "step_p95_ms": 21.138976097106934, "sample_ms": 201.46697616577148, "sample_ms_from_mean": 201.46697616577148, "output_transfer_ms": 0.06726942956447601, "total_ms": 309.3467392027378, "control_frequency_hz": 3.2326185256623186, "prefill_share": 0.3030228667797701, "sample_share": 0.6512658794626417, "other_share": 0.014552144468172204, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.669974610209465, "prefix_embed_ms": 40.938846588134766, "prefill_forward_ms": 55.26937484741211, "prefill_ms": 96.20822143554688, "step_ms": [20.523103713989258, 20.024032592773438, 19.919967651367188, 20.030527114868164, 20.119647979736328, 19.857696533203125, 20.652063369750977, 21.934751510620117, 20.320127487182617, 20.21660804748535], "step_mean_ms": 20.359852600097657, "step_p50_ms": 20.16812801361084, "step_p95_ms": 21.357541847229, "sample_ms": 203.59852600097656, "sample_ms_from_mean": 203.59852600097656, "output_transfer_ms": 0.0653192400932312, "total_ms": 315.2789883315563, "control_frequency_hz": 3.171793988847654, "prefill_share": 0.3051526584269916, "sample_share": 0.6457725809081403, "other_share": 0.015024620161964864, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.52884927392006, "prefix_embed_ms": 38.707969665527344, "prefill_forward_ms": 55.26732635498047, "prefill_ms": 93.97529602050781, "step_ms": [20.468416213989258, 20.08937644958496, 22.096607208251953, 19.954208374023438, 20.42678451538086, 20.2890567779541, 19.9597110748291, 20.24825668334961, 20.120895385742188, 22.644384384155273], "step_mean_ms": 20.629769706726073, "step_p50_ms": 20.268656730651855, "step_p95_ms": 22.39788465499878, "sample_ms": 206.29769706726074, "sample_ms_from_mean": 206.29769706726074, "output_transfer_ms": 0.0685378909111023, "total_ms": 314.5468030124903, "control_frequency_hz": 3.179177122204899, "prefill_share": 0.2987641111608315, "sample_share": 0.655856918879792, "other_share": 0.014867176252002349, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.632639586925507, "prefix_embed_ms": 38.91289520263672, "prefill_forward_ms": 55.11881637573242, "prefill_ms": 94.03171157836914, "step_ms": [20.891775131225586, 20.908447265625, 20.40563201904297, 20.39232063293457, 20.250911712646484, 20.317119598388672, 20.906112670898438, 20.127519607543945, 20.035648345947266, 19.67305564880371], "step_mean_ms": 20.390854263305663, "step_p50_ms": 20.35472011566162, "step_p95_ms": 20.907396697998045, "sample_ms": 203.90854263305664, "sample_ms_from_mean": 203.90854263305664, "output_transfer_ms": 0.06327591836452484, "total_ms": 312.0628036558628, "control_frequency_hz": 3.2044831626353707, "prefill_share": 0.30132303650666936, "sample_share": 0.6534214915851467, "other_share": 0.014185073925146834, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.9701007604599, "prefix_embed_ms": 40.026912689208984, "prefill_forward_ms": 55.144447326660156, "prefill_ms": 95.17136001586914, "step_ms": [21.813663482666016, 21.271392822265625, 20.21798324584961, 20.385183334350586, 20.395872116088867, 22.92367935180664, 20.045215606689453, 20.761856079101562, 20.305599212646484, 20.649120330810547], "step_mean_ms": 20.87695655822754, "step_p50_ms": 20.522496223449707, "step_p95_ms": 22.424172210693357, "sample_ms": 208.7695655822754, "sample_ms_from_mean": 208.7695655822754, "output_transfer_ms": 0.06764382123947144, "total_ms": 319.8271505534649, "control_frequency_hz": 3.1266888951406644, "prefill_share": 0.29757123449705225, "sample_share": 0.6527574823494411, "other_share": 0.015159689742508198, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.049952194094658, "prefix_embed_ms": 41.891998291015625, "prefill_forward_ms": 55.19257736206055, "prefill_ms": 97.08457565307617, "step_ms": [20.914783477783203, 20.34966468811035, 22.017087936401367, 20.593599319458008, 20.226335525512695, 20.33033561706543, 20.151935577392578, 19.90505599975586, 21.517759323120117, 21.540639877319336], "step_mean_ms": 20.754719734191895, "step_p50_ms": 20.47163200378418, "step_p95_ms": 21.80268630981445, "sample_ms": 207.54719734191895, "sample_ms_from_mean": 207.54719734191895, "output_transfer_ms": 0.07006339728832245, "total_ms": 319.56734880805016, "control_frequency_hz": 3.1292308295258766, "prefill_share": 0.3038000472050433, "sample_share": 0.6494630885040239, "other_share": 0.01506899950709467, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.909100994467735, "prefix_embed_ms": 40.04716873168945, "prefill_forward_ms": 55.190528869628906, "prefill_ms": 95.23769760131836, "step_ms": [21.493343353271484, 22.351903915405273, 22.537151336669922, 23.398975372314453, 20.935775756835938, 20.67840003967285, 21.988351821899414, 20.921823501586914, 21.09939193725586, 20.7893123626709], "step_mean_ms": 21.6194429397583, "step_p50_ms": 21.296367645263672, "step_p95_ms": 23.011154556274413, "sample_ms": 216.194429397583, "sample_ms_from_mean": 216.194429397583, "output_transfer_ms": 0.07791072130203247, "total_ms": 327.6583682745695, "control_frequency_hz": 3.0519592869425054, "prefill_share": 0.2906615756613655, "sample_share": 0.6598165965851893, "other_share": 0.015989915311755545, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.004382908344269, "prefix_embed_ms": 42.66998291015625, "prefill_forward_ms": 55.239681243896484, "prefill_ms": 97.90966415405273, "step_ms": [20.700319290161133, 20.144704818725586, 20.0994873046875, 19.922975540161133, 20.304607391357422, 20.049856185913086, 20.250015258789062, 22.9171199798584, 19.93596839904785, 20.1812801361084], "step_mean_ms": 20.450633430480956, "step_p50_ms": 20.162992477416992, "step_p95_ms": 21.919559669494628, "sample_ms": 204.50633430480957, "sample_ms_from_mean": 204.50633430480957, "output_transfer_ms": 0.06493180990219116, "total_ms": 319.2717991769314, "control_frequency_hz": 3.1321275558253374, "prefill_share": 0.30666555707851284, "sample_share": 0.6405399250169225, "other_share": 0.014991884695616608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.619070217013359, "prefix_embed_ms": 38.62076950073242, "prefill_forward_ms": 55.08812713623047, "prefill_ms": 93.70889663696289, "step_ms": [20.53206443786621, 19.97884750366211, 21.69024085998535, 19.90166473388672, 20.042144775390625, 20.31996726989746, 20.047199249267578, 20.242431640625, 20.49388885498047, 20.19049644470215], "step_mean_ms": 20.34389457702637, "step_p50_ms": 20.216464042663574, "step_p95_ms": 21.169061470031735, "sample_ms": 203.43894577026367, "sample_ms_from_mean": 203.43894577026367, "output_transfer_ms": 0.07070787250995636, "total_ms": 312.0777625590563, "control_frequency_hz": 3.2043295613245246, "prefill_share": 0.3002741876529245, "sample_share": 0.6518854278563527, "other_share": 0.01679114211578847, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.852128103375435, "prefix_embed_ms": 41.06281661987305, "prefill_forward_ms": 55.07891082763672, "prefill_ms": 96.14172744750977, "step_ms": [20.389440536499023, 19.891456604003906, 19.90243148803711, 20.14499282836914, 19.997568130493164, 19.69375991821289, 19.68435287475586, 19.781856536865234, 21.702880859375, 20.1396484375], "step_mean_ms": 20.132838821411134, "step_p50_ms": 19.949999809265137, "step_p95_ms": 21.11183271408081, "sample_ms": 201.32838821411133, "sample_ms_from_mean": 201.32838821411133, "output_transfer_ms": 0.0637732446193695, "total_ms": 311.87032349407673, "control_frequency_hz": 3.2064609059187794, "prefill_share": 0.30827469048793854, "sample_share": 0.6455516060601871, "other_share": 0.014378753432581732, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.495764970779419, "prefix_embed_ms": 37.98323059082031, "prefill_forward_ms": 55.13113784790039, "prefill_ms": 93.1143684387207, "step_ms": [20.410335540771484, 19.831104278564453, 20.10678482055664, 21.389728546142578, 20.03727912902832, 19.76323127746582, 19.829408645629883, 19.6144962310791, 19.709632873535156, 19.92969512939453], "step_mean_ms": 20.0621696472168, "step_p50_ms": 19.880399703979492, "step_p95_ms": 20.949001693725585, "sample_ms": 200.62169647216797, "sample_ms_from_mean": 200.62169647216797, "output_transfer_ms": 0.06400421261787415, "total_ms": 307.91559629142284, "control_frequency_hz": 3.247643224455453, "prefill_share": 0.30240224775945995, "sample_share": 0.6515476932265948, "other_share": 0.015003339398127022, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.772436693310738, "prefix_embed_ms": 39.6550407409668, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 94.7083511352539, "step_ms": [20.400192260742188, 19.90118408203125, 19.767423629760742, 19.78166389465332, 19.68627166748047, 19.671648025512695, 19.590879440307617, 19.867647171020508, 21.66854476928711, 19.735071182250977], "step_mean_ms": 20.007052612304687, "step_p50_ms": 19.77454376220703, "step_p95_ms": 21.097786140441894, "sample_ms": 200.07052612304688, "sample_ms_from_mean": 200.07052612304688, "output_transfer_ms": 0.07822364568710327, "total_ms": 309.03512611985207, "control_frequency_hz": 3.235878110542597, "prefill_share": 0.3064646803241502, "sample_share": 0.6474038360463081, "other_share": 0.014255947464188389, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.620748460292816, "prefix_embed_ms": 38.49353790283203, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 93.5550422668457, "step_ms": [20.244863510131836, 19.896671295166016, 20.060895919799805, 20.07302474975586, 22.1628475189209, 19.932544708251953, 19.730655670166016, 19.805503845214844, 19.92380714416504, 19.701120376586914], "step_mean_ms": 20.153193473815918, "step_p50_ms": 19.928175926208496, "step_p95_ms": 21.299754714965818, "sample_ms": 201.53193473815918, "sample_ms_from_mean": 201.53193473815918, "output_transfer_ms": 0.06103329360485077, "total_ms": 309.18040312826633, "control_frequency_hz": 3.2343576432466867, "prefill_share": 0.30259046602003925, "sample_share": 0.6518263534786576, "other_share": 0.014268835685337966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.64769721031189, "prefix_embed_ms": 39.70460891723633, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 94.76406478881836, "step_ms": [20.193695068359375, 22.871360778808594, 20.21513557434082, 19.94780731201172, 20.060863494873047, 19.90617561340332, 20.139551162719727, 20.08121681213379, 20.1079044342041, 20.224992752075195], "step_mean_ms": 20.37487030029297, "step_p50_ms": 20.123727798461914, "step_p95_ms": 21.680495166778563, "sample_ms": 203.7487030029297, "sample_ms_from_mean": 203.7487030029297, "output_transfer_ms": 0.0643506646156311, "total_ms": 313.32020834088326, "control_frequency_hz": 3.191623053282376, "prefill_share": 0.30245117380273734, "sample_share": 0.6502890575805345, "other_share": 0.01626257272452739, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.504839777946472, "prefix_embed_ms": 39.366111755371094, "prefill_forward_ms": 55.160831451416016, "prefill_ms": 94.52694320678711, "step_ms": [20.684032440185547, 19.99888038635254, 20.19215965270996, 19.899295806884766, 19.81932830810547, 20.603647232055664, 19.784223556518555, 20.04662322998047, 19.771072387695312, 19.66646385192871], "step_mean_ms": 20.0465726852417, "step_p50_ms": 19.949088096618652, "step_p95_ms": 20.6478590965271, "sample_ms": 200.465726852417, "sample_ms_from_mean": 200.465726852417, "output_transfer_ms": 0.05717948079109192, "total_ms": 308.83934535086155, "control_frequency_hz": 3.2379294123419897, "prefill_share": 0.30607156966803684, "sample_share": 0.6490938731419564, "other_share": 0.01387341379075984, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.401367977261543, "prefix_embed_ms": 38.48112106323242, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 93.54057693481445, "step_ms": [20.5696964263916, 20.52822494506836, 20.002431869506836, 20.06163215637207, 19.777311325073242, 19.643808364868164, 19.89619255065918, 19.903743743896484, 19.90550422668457, 19.716480255126953], "step_mean_ms": 20.000502586364746, "step_p50_ms": 19.904623985290527, "step_p95_ms": 20.551034259796143, "sample_ms": 200.00502586364746, "sample_ms_from_mean": 200.00502586364746, "output_transfer_ms": 0.05984306335449219, "total_ms": 307.30386450886726, "control_frequency_hz": 3.2541081173782147, "prefill_share": 0.30439115070782113, "sample_share": 0.650837978179335, "other_share": 0.013983067465346902, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.593535214662552, "prefix_embed_ms": 38.972862243652344, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 94.03948593139648, "step_ms": [20.06083106994629, 19.8209285736084, 19.760704040527344, 19.66326332092285, 19.71334457397461, 20.586048126220703, 20.35843276977539, 19.977088928222656, 20.05129623413086, 20.056543350219727], "step_mean_ms": 20.004848098754884, "step_p50_ms": 20.014192581176758, "step_p95_ms": 20.483621215820314, "sample_ms": 200.04848098754883, "sample_ms_from_mean": 200.04848098754883, "output_transfer_ms": 0.05873478949069977, "total_ms": 308.01401659846306, "control_frequency_hz": 3.2466054988128414, "prefill_share": 0.3053091121304047, "sample_share": 0.6494784984033322, "other_share": 0.013875276594752928, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.67475026845932, "prefix_embed_ms": 38.316287994384766, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 93.3757438659668, "step_ms": [20.40822410583496, 20.66339111328125, 20.35536003112793, 19.723520278930664, 20.109600067138672, 19.67430305480957, 20.08348846435547, 19.91107177734375, 19.580415725708008, 19.757535934448242], "step_mean_ms": 20.026691055297853, "step_p50_ms": 19.99728012084961, "step_p95_ms": 20.54856595993042, "sample_ms": 200.26691055297852, "sample_ms_from_mean": 200.26691055297852, "output_transfer_ms": 0.06712041795253754, "total_ms": 307.6095785945654, "control_frequency_hz": 3.250874061103334, "prefill_share": 0.3035527836701002, "sample_share": 0.6510425048139794, "other_share": 0.013735116794841143, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.477091953158379, "prefix_embed_ms": 39.571903228759766, "prefill_forward_ms": 55.15571212768555, "prefill_ms": 94.72761535644531, "step_ms": [21.35647964477539, 19.85875129699707, 20.716064453125, 20.23468780517578, 19.907072067260742, 20.275775909423828, 19.793760299682617, 21.27382469177246, 20.139808654785156, 19.718656539916992], "step_mean_ms": 20.327488136291503, "step_p50_ms": 20.18724822998047, "step_p95_ms": 21.319284915924072, "sample_ms": 203.27488136291504, "sample_ms_from_mean": 203.27488136291504, "output_transfer_ms": 0.07050670683383942, "total_ms": 312.02197074890137, "control_frequency_hz": 3.2049025188830265, "prefill_share": 0.30359277306365406, "sample_share": 0.6514761793056548, "other_share": 0.014331924635997906, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.807106107473373, "prefix_embed_ms": 38.16400146484375, "prefill_forward_ms": 55.021568298339844, "prefill_ms": 93.1855697631836, "step_ms": [20.84694480895996, 20.688928604125977, 22.359872817993164, 20.174495697021484, 20.260831832885742, 20.196096420288086, 20.234975814819336, 19.769855499267578, 20.28281593322754, 20.233631134033203], "step_mean_ms": 20.504844856262206, "step_p50_ms": 20.24790382385254, "step_p95_ms": 21.679055213928223, "sample_ms": 205.04844856262207, "sample_ms_from_mean": 205.04844856262207, "output_transfer_ms": 0.06582587957382202, "total_ms": 312.627712264657, "control_frequency_hz": 3.1986927606515048, "prefill_share": 0.2980720073986811, "sample_share": 0.6558869880000816, "other_share": 0.014460528527864737, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.545449167490005, "prefix_embed_ms": 38.801631927490234, "prefill_forward_ms": 55.13625717163086, "prefill_ms": 93.9378890991211, "step_ms": [21.099679946899414, 20.447839736938477, 20.76527976989746, 20.822751998901367, 20.234975814819336, 20.49443244934082, 22.174848556518555, 20.052255630493164, 19.842304229736328, 19.715648651123047], "step_mean_ms": 20.565001678466796, "step_p50_ms": 20.47113609313965, "step_p95_ms": 21.69102268218994, "sample_ms": 205.65001678466797, "sample_ms_from_mean": 205.65001678466797, "output_transfer_ms": 0.05858391523361206, "total_ms": 313.63738887012005, "control_frequency_hz": 3.188395374679352, "prefill_share": 0.2995111311107796, "sample_share": 0.6556935623189665, "other_share": 0.014173851911030504, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.45114903151989, "prefix_embed_ms": 39.89286422729492, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 94.94515228271484, "step_ms": [20.618911743164062, 20.166271209716797, 20.34364891052246, 20.281280517578125, 20.506816864013672, 22.33910369873047, 20.584320068359375, 20.528608322143555, 20.83087921142578, 20.615039825439453], "step_mean_ms": 20.681488037109375, "step_p50_ms": 20.556464195251465, "step_p95_ms": 21.660402679443358, "sample_ms": 206.81488037109375, "sample_ms_from_mean": 206.81488037109375, "output_transfer_ms": 0.06975606083869934, "total_ms": 315.8787414431572, "control_frequency_hz": 3.165771762389877, "prefill_share": 0.30057468207242544, "sample_share": 0.6547287083208491, "other_share": 0.014555597112942764, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.618444368243217, "prefix_embed_ms": 38.47849655151367, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 93.55945587158203, "step_ms": [20.7457275390625, 20.247840881347656, 20.373727798461914, 20.120447158813477, 19.93187141418457, 19.71955108642578, 19.991008758544922, 20.70582389831543, 20.963743209838867, 20.10380744934082], "step_mean_ms": 20.290354919433593, "step_p50_ms": 20.184144020080566, "step_p95_ms": 20.865636157989503, "sample_ms": 202.90354919433594, "sample_ms_from_mean": 202.90354919433594, "output_transfer_ms": 0.06194598972797394, "total_ms": 310.8860235661268, "control_frequency_hz": 3.216612919838436, "prefill_share": 0.3009445545295848, "sample_share": 0.6526621778195747, "other_share": 0.015255198956311026, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.884510353207588, "prefix_embed_ms": 38.79558563232422, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 93.84275436401367, "step_ms": [20.34809684753418, 19.859712600708008, 19.97327995300293, 20.008384704589844, 19.751808166503906, 19.619903564453125, 19.713951110839844, 20.003583908081055, 19.7857608795166, 19.703231811523438], "step_mean_ms": 19.87677135467529, "step_p50_ms": 19.822736740112305, "step_p95_ms": 20.195226383209228, "sample_ms": 198.76771354675293, "sample_ms_from_mean": 198.76771354675293, "output_transfer_ms": 0.06555020809173584, "total_ms": 307.94563330709934, "control_frequency_hz": 3.247326449350065, "prefill_share": 0.30473805832612283, "sample_share": 0.645463653477208, "other_share": 0.014239866913976867, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.563595220446587, "prefix_embed_ms": 38.62428665161133, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 93.69910430908203, "step_ms": [20.37276840209961, 19.94758415222168, 19.614368438720703, 19.60313606262207, 19.73379135131836, 21.03219223022461, 20.130144119262695, 20.1409912109375, 20.02739143371582, 19.93894386291504], "step_mean_ms": 20.05413112640381, "step_p50_ms": 19.98748779296875, "step_p95_ms": 20.73545150756836, "sample_ms": 200.5413112640381, "sample_ms_from_mean": 200.5413112640381, "output_transfer_ms": 0.06283260881900787, "total_ms": 309.2292044311762, "control_frequency_hz": 3.2338472099990985, "prefill_share": 0.3030085870493394, "sample_share": 0.6485199599207704, "other_share": 0.014107209041962871, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.745411574840546, "prefix_embed_ms": 38.4048957824707, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 93.46640014648438, "step_ms": [20.244287490844727, 20.794527053833008, 19.823871612548828, 19.578271865844727, 19.759328842163086, 19.65862464904785, 19.91779136657715, 19.598112106323242, 19.576608657836914, 19.594144821166992], "step_mean_ms": 19.854556846618653, "step_p50_ms": 19.70897674560547, "step_p95_ms": 20.54691925048828, "sample_ms": 198.54556846618652, "sample_ms_from_mean": 198.54556846618652, "output_transfer_ms": 0.057950615882873535, "total_ms": 306.1543721705675, "control_frequency_hz": 3.2663260462694645, "prefill_share": 0.30529173724950603, "sample_share": 0.6485145616524823, "other_share": 0.014172723833438474, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.449314326047897, "prefix_embed_ms": 38.99846267700195, "prefill_forward_ms": 55.046142578125, "prefill_ms": 94.04460525512695, "step_ms": [20.203935623168945, 19.789024353027344, 19.888671875, 19.703264236450195, 19.878080368041992, 19.68377685546875, 19.826400756835938, 19.88057518005371, 19.547231674194336, 20.219871520996094], "step_mean_ms": 19.86208324432373, "step_p50_ms": 19.852240562438965, "step_p95_ms": 20.212700366973877, "sample_ms": 198.6208324432373, "sample_ms_from_mean": 198.6208324432373, "output_transfer_ms": 0.05898810923099518, "total_ms": 306.58229999244213, "control_frequency_hz": 3.261766905736737, "prefill_share": 0.3067515810842483, "sample_share": 0.6478548580532331, "other_share": 0.014379694649389938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.416675195097923, "prefix_embed_ms": 39.02729415893555, "prefill_forward_ms": 55.173118591308594, "prefill_ms": 94.20041275024414, "step_ms": [21.082719802856445, 20.127328872680664, 19.86240005493164, 19.579328536987305, 20.584064483642578, 19.907968521118164, 19.692447662353516, 19.665983200073242, 19.687007904052734, 19.720800399780273], "step_mean_ms": 19.991004943847656, "step_p50_ms": 19.791600227355957, "step_p95_ms": 20.858324909210204, "sample_ms": 199.91004943847656, "sample_ms_from_mean": 199.91004943847656, "output_transfer_ms": 0.07658079266548157, "total_ms": 308.1290517002344, "control_frequency_hz": 3.245393430064677, "prefill_share": 0.3057174006490232, "sample_share": 0.6487867610515367, "other_share": 0.014686487686830675, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.159248486161232, "prefix_embed_ms": 40.08000183105469, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 95.12307357788086, "step_ms": [20.538368225097656, 19.922719955444336, 20.97609519958496, 20.328031539916992, 19.812671661376953, 20.11347198486328, 20.580032348632812, 20.090944290161133, 20.282848358154297, 20.302751541137695], "step_mean_ms": 20.29479351043701, "step_p50_ms": 20.292799949645996, "step_p95_ms": 20.797866916656492, "sample_ms": 202.94793510437012, "sample_ms_from_mean": 202.94793510437012, "output_transfer_ms": 0.06082281470298767, "total_ms": 312.72199377417564, "control_frequency_hz": 3.197728397453634, "prefill_share": 0.3041777536330611, "sample_share": 0.6489723752878216, "other_share": 0.014168858856342932, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.80599969625473, "prefix_embed_ms": 39.11891174316406, "prefill_forward_ms": 55.21100616455078, "prefill_ms": 94.32991790771484, "step_ms": [20.396928787231445, 20.056896209716797, 19.867616653442383, 20.95667266845703, 20.04355239868164, 19.985984802246094, 20.015871047973633, 19.87491226196289, 20.026655197143555, 20.7620792388916], "step_mean_ms": 20.198716926574708, "step_p50_ms": 20.035103797912598, "step_p95_ms": 20.86910562515259, "sample_ms": 201.98716926574707, "sample_ms_from_mean": 201.98716926574707, "output_transfer_ms": 0.06985478103160858, "total_ms": 310.7406012713909, "control_frequency_hz": 3.218118250104794, "prefill_share": 0.30356483034970416, "sample_share": 0.6500185957011068, "other_share": 0.014634906420454794, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.121986269950867, "prefix_embed_ms": 39.13520050048828, "prefill_forward_ms": 55.13625717163086, "prefill_ms": 94.27145767211914, "step_ms": [20.15987205505371, 20.15990447998047, 20.217023849487305, 20.252704620361328, 21.27462387084961, 20.210464477539062, 19.847871780395508, 19.949119567871094, 19.781631469726562, 19.661792755126953], "step_mean_ms": 20.15150089263916, "step_p50_ms": 20.15988826751709, "step_p95_ms": 20.814760208129883, "sample_ms": 201.5150089263916, "sample_ms_from_mean": 201.5150089263916, "output_transfer_ms": 0.05925074219703674, "total_ms": 310.3733155876398, "control_frequency_hz": 3.2219264665413254, "prefill_share": 0.30373570451323095, "sample_share": 0.6492665406652526, "other_share": 0.01419455782994706, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.50850360095501, "prefix_embed_ms": 38.28416061401367, "prefill_forward_ms": 55.24480056762695, "prefill_ms": 93.52896118164062, "step_ms": [20.482816696166992, 20.004863739013672, 19.92950439453125, 20.036672592163086, 19.8571834564209, 20.200511932373047, 19.656415939331055, 19.95564842224121, 20.122880935668945, 21.645471572875977], "step_mean_ms": 20.189196968078612, "step_p50_ms": 20.02076816558838, "step_p95_ms": 21.12227687835693, "sample_ms": 201.89196968078613, "sample_ms_from_mean": 201.89196968078613, "output_transfer_ms": 0.06729736924171448, "total_ms": 309.6764963120222, "control_frequency_hz": 3.22917629174035, "prefill_share": 0.3020215040388574, "sample_share": 0.6519447619859561, "other_share": 0.015111784507802992, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.886447340250015, "prefix_embed_ms": 38.23283386230469, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 93.30969619750977, "step_ms": [20.057472229003906, 19.588640213012695, 19.37958335876465, 20.137535095214844, 19.7478084564209, 19.960832595825195, 19.934207916259766, 19.727615356445312, 20.09760093688965, 20.014591217041016], "step_mean_ms": 19.864588737487793, "step_p50_ms": 19.94752025604248, "step_p95_ms": 20.119564723968505, "sample_ms": 198.64588737487793, "sample_ms_from_mean": 198.64588737487793, "output_transfer_ms": 0.0636521726846695, "total_ms": 306.9615289568901, "control_frequency_hz": 3.2577372265448963, "prefill_share": 0.3039784709002223, "sample_share": 0.6471361022011847, "other_share": 0.016470617307479507, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.586013853549957, "prefix_embed_ms": 38.535457611083984, "prefill_forward_ms": 55.11065673828125, "prefill_ms": 93.64611434936523, "step_ms": [20.276351928710938, 20.38153648376465, 20.409503936767578, 19.93552017211914, 19.991487503051758, 19.838207244873047, 20.094303131103516, 20.35161590576172, 19.917951583862305, 20.88150405883789], "step_mean_ms": 20.207798194885253, "step_p50_ms": 20.185327529907227, "step_p95_ms": 20.66910400390625, "sample_ms": 202.07798194885254, "sample_ms_from_mean": 202.07798194885254, "output_transfer_ms": 0.060731545090675354, "total_ms": 309.6552547067404, "control_frequency_hz": 3.229397805462891, "prefill_share": 0.30242055616996705, "sample_share": 0.6525901914379941, "other_share": 0.013836073971809505, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.226691141724586, "prefix_embed_ms": 40.53392028808594, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 95.62921524047852, "step_ms": [21.083295822143555, 20.73504066467285, 21.0831356048584, 20.838336944580078, 20.999359130859375, 20.361696243286133, 20.50739288330078, 20.21001625061035, 20.304927825927734, 20.477535247802734], "step_mean_ms": 20.660073661804198, "step_p50_ms": 20.621216773986816, "step_p95_ms": 21.083223724365233, "sample_ms": 206.600736618042, "sample_ms_from_mean": 206.600736618042, "output_transfer_ms": 0.05985237658023834, "total_ms": 317.1141464263201, "control_frequency_hz": 3.1534386317021186, "prefill_share": 0.30156086165868196, "sample_share": 0.6515027441894481, "other_share": 0.014498410434562512, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.095048695802689, "prefix_embed_ms": 40.06294250488281, "prefill_forward_ms": 55.11270523071289, "prefill_ms": 95.1756477355957, "step_ms": [21.583423614501953, 21.132415771484375, 19.800159454345703, 19.846784591674805, 20.18284797668457, 20.2893123626709, 20.05948829650879, 20.115999221801758, 20.035615921020508, 20.5166072845459], "step_mean_ms": 20.356265449523924, "step_p50_ms": 20.149423599243164, "step_p95_ms": 21.380470085144044, "sample_ms": 203.56265449523926, "sample_ms_from_mean": 203.56265449523926, "output_transfer_ms": 0.08310005068778992, "total_ms": 313.41848336160183, "control_frequency_hz": 3.190622292834801, "prefill_share": 0.3036695434001837, "sample_share": 0.6494915434211387, "other_share": 0.014364284888336461, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.029824614524841, "prefix_embed_ms": 40.812225341796875, "prefill_forward_ms": 55.14854431152344, "prefill_ms": 95.96076965332031, "step_ms": [20.947040557861328, 21.23574447631836, 20.62246322631836, 20.584192276000977, 21.327648162841797, 21.10358428955078, 22.061920166015625, 20.0150089263916, 19.702016830444336, 20.018592834472656], "step_mean_ms": 20.76182117462158, "step_p50_ms": 20.784751892089844, "step_p95_ms": 21.731497764587402, "sample_ms": 207.61821174621582, "sample_ms_from_mean": 207.61821174621582, "output_transfer_ms": 0.05990453064441681, "total_ms": 319.1605769097805, "control_frequency_hz": 3.133219051307447, "prefill_share": 0.30066611165590873, "sample_share": 0.650513336441627, "other_share": 0.014074001270980472, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.984971955418587, "prefix_embed_ms": 39.291072845458984, "prefill_forward_ms": 55.058433532714844, "prefill_ms": 94.34950637817383, "step_ms": [21.518720626831055, 20.117759704589844, 20.132671356201172, 19.946271896362305, 19.69718360900879, 20.444032669067383, 20.24425506591797, 20.11350440979004, 20.245376586914062, 21.19548797607422], "step_mean_ms": 20.365526390075683, "step_p50_ms": 20.18846321105957, "step_p95_ms": 21.373265933990478, "sample_ms": 203.65526390075684, "sample_ms_from_mean": 203.65526390075684, "output_transfer_ms": 0.05881674587726593, "total_ms": 313.2303450256586, "control_frequency_hz": 3.192538704760817, "prefill_share": 0.3012144508873975, "sample_share": 0.6501773124314446, "other_share": 0.016543052509831443, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.007724165916443, "prefix_embed_ms": 39.1690559387207, "prefill_forward_ms": 55.094207763671875, "prefill_ms": 94.26326370239258, "step_ms": [20.90550422668457, 21.160608291625977, 20.05344009399414, 19.849824905395508, 19.83875274658203, 20.970304489135742, 19.677696228027344, 19.67807960510254, 19.625791549682617, 19.777311325073242], "step_mean_ms": 20.15373134613037, "step_p50_ms": 19.84428882598877, "step_p95_ms": 21.07497158050537, "sample_ms": 201.5373134613037, "sample_ms_from_mean": 201.5373134613037, "output_transfer_ms": 0.06766803562641144, "total_ms": 310.31228974461555, "control_frequency_hz": 3.222560088815663, "prefill_share": 0.3037690314488365, "sample_share": 0.6494661027675289, "other_share": 0.014296308995777983, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.979251772165298, "prefix_embed_ms": 40.01728057861328, "prefill_forward_ms": 55.170047760009766, "prefill_ms": 95.18732833862305, "step_ms": [20.588895797729492, 20.256479263305664, 20.37068748474121, 22.254688262939453, 20.71072006225586, 19.81929588317871, 19.60108757019043, 19.774911880493164, 20.06015968322754, 19.992992401123047], "step_mean_ms": 20.342991828918457, "step_p50_ms": 20.1583194732666, "step_p95_ms": 21.559902572631835, "sample_ms": 203.42991828918457, "sample_ms_from_mean": 203.42991828918457, "output_transfer_ms": 0.08873827755451202, "total_ms": 313.03764693439007, "control_frequency_hz": 3.1945039511800037, "prefill_share": 0.3040762964799996, "sample_share": 0.6498576777630254, "other_share": 0.013903791762704079, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.96759906411171, "prefix_embed_ms": 38.12518310546875, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.17440032958984, "step_ms": [20.167680740356445, 19.831615447998047, 19.767839431762695, 20.16694450378418, 19.802400588989258, 19.73151969909668, 19.737247467041016, 19.818016052246094, 19.890207290649414, 21.327743530273438], "step_mean_ms": 20.024121475219726, "step_p50_ms": 19.82481575012207, "step_p95_ms": 20.80571527481079, "sample_ms": 200.24121475219727, "sample_ms_from_mean": 200.24121475219727, "output_transfer_ms": 0.06643123924732208, "total_ms": 307.78546817600727, "control_frequency_hz": 3.2490162902302764, "prefill_share": 0.30272514450327465, "sample_share": 0.6505869687053881, "other_share": 0.014087158879059512, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.095980018377304, "prefix_embed_ms": 38.28860855102539, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.33987426757812, "step_ms": [20.67193603515625, 19.907615661621094, 19.731231689453125, 19.8701114654541, 22.109216690063477, 19.704320907592773, 19.763744354248047, 19.781471252441406, 20.06399917602539, 19.70694351196289], "step_mean_ms": 20.131059074401854, "step_p50_ms": 19.825791358947754, "step_p95_ms": 21.462440395355223, "sample_ms": 201.31059074401855, "sample_ms_from_mean": 201.31059074401855, "output_transfer_ms": 0.062331557273864746, "total_ms": 309.1115318238735, "control_frequency_hz": 3.2350782712622412, "prefill_share": 0.3019617990853916, "sample_share": 0.65125551789094, "other_share": 0.013919749972567532, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.921183809638023, "prefix_embed_ms": 38.762977600097656, "prefill_forward_ms": 55.06150436401367, "prefill_ms": 93.82448196411133, "step_ms": [21.042367935180664, 19.692703247070312, 19.90070343017578, 19.980480194091797, 19.776416778564453, 19.8056640625, 19.852415084838867, 19.789119720458984, 21.276256561279297, 19.83875274658203], "step_mean_ms": 20.095487976074217, "step_p50_ms": 19.84558391571045, "step_p95_ms": 21.171006679534912, "sample_ms": 200.9548797607422, "sample_ms_from_mean": 200.9548797607422, "output_transfer_ms": 0.06118789315223694, "total_ms": 309.25038643181324, "control_frequency_hz": 3.2336257087280647, "prefill_share": 0.303393256987243, "sample_share": 0.649812865488693, "other_share": 0.014514623751841841, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.804312139749527, "prefix_embed_ms": 38.05984115600586, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.14182662963867, "step_ms": [20.280895233154297, 19.802400588989258, 19.957887649536133, 21.40230369567871, 19.894304275512695, 20.04332733154297, 19.878816604614258, 20.481279373168945, 20.563392639160156, 20.431167602539062], "step_mean_ms": 20.27357749938965, "step_p50_ms": 20.162111282348633, "step_p95_ms": 21.02479372024536, "sample_ms": 202.73577499389648, "sample_ms_from_mean": 202.73577499389648, "output_transfer_ms": 0.06729364395141602, "total_ms": 310.18802896142006, "control_frequency_hz": 3.2238510407646195, "prefill_share": 0.3002753747186784, "sample_share": 0.6535899392142949, "other_share": 0.014310099487224386, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.192915797233582, "prefix_embed_ms": 39.89004898071289, "prefill_forward_ms": 56.11110305786133, "prefill_ms": 96.00115203857422, "step_ms": [21.207008361816406, 20.552576065063477, 20.027008056640625, 20.075040817260742, 19.794591903686523, 19.79136085510254, 20.094335556030273, 20.159360885620117, 20.07721519470215, 21.5479679107666], "step_mean_ms": 20.332646560668945, "step_p50_ms": 20.08577537536621, "step_p95_ms": 21.394536113739015, "sample_ms": 203.32646560668945, "sample_ms_from_mean": 203.32646560668945, "output_transfer_ms": 0.05870312452316284, "total_ms": 314.4199997186661, "control_frequency_hz": 3.180459261162684, "prefill_share": 0.30532775308337023, "sample_share": 0.6466715405782714, "other_share": 0.015395849996746503, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.140025988221169, "prefix_embed_ms": 38.59711837768555, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.64838409423828, "step_ms": [20.70979118347168, 20.147296905517578, 20.205568313598633, 22.62985610961914, 20.182912826538086, 19.843711853027344, 19.692575454711914, 20.094751358032227, 20.131359100341797, 19.85628890991211], "step_mean_ms": 20.34941120147705, "step_p50_ms": 20.139328002929688, "step_p95_ms": 21.765826892852782, "sample_ms": 203.4941120147705, "sample_ms_from_mean": 203.4941120147705, "output_transfer_ms": 0.0635739415884018, "total_ms": 311.7518238723278, "control_frequency_hz": 3.2076797100296406, "prefill_share": 0.30039402153615063, "sample_share": 0.6527439342202782, "other_share": 0.014132163779461093, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.069133713841438, "prefix_embed_ms": 38.87420654296875, "prefill_forward_ms": 55.214080810546875, "prefill_ms": 94.08828735351562, "step_ms": [20.687551498413086, 20.083040237426758, 20.709728240966797, 20.926687240600586, 20.606271743774414, 21.876192092895508, 20.294912338256836, 20.354719161987305, 20.166879653930664, 19.808639526367188], "step_mean_ms": 20.551462173461914, "step_p50_ms": 20.48049545288086, "step_p95_ms": 21.44891490936279, "sample_ms": 205.51462173461914, "sample_ms_from_mean": 205.51462173461914, "output_transfer_ms": 0.062191858887672424, "total_ms": 314.47717547416687, "control_frequency_hz": 3.1798810151872097, "prefill_share": 0.29918955870692315, "sample_share": 0.6535120439972961, "other_share": 0.015081987448378773, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.849580004811287, "prefix_embed_ms": 40.81100845336914, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 95.89708709716797, "step_ms": [20.303327560424805, 20.33839988708496, 20.500864028930664, 20.450176239013672, 21.758047103881836, 20.154399871826172, 20.19593620300293, 19.912992477416992, 19.673952102661133, 19.866592407226562], "step_mean_ms": 20.315468788146973, "step_p50_ms": 20.249631881713867, "step_p95_ms": 21.192314720153806, "sample_ms": 203.15468788146973, "sample_ms_from_mean": 203.15468788146973, "output_transfer_ms": 0.06378069519996643, "total_ms": 313.4131319820881, "control_frequency_hz": 3.1906767711863173, "prefill_share": 0.305976608225365, "sample_share": 0.6482009435810119, "other_share": 0.014192118483705872, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.041454806923866, "prefix_embed_ms": 37.95484924316406, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 93.05219268798828, "step_ms": [20.222719192504883, 19.692447662353516, 20.06764793395996, 19.725248336791992, 19.90185546875, 19.84809684753418, 19.65340805053711, 19.76358413696289, 20.446943283081055, 19.799007415771484], "step_mean_ms": 19.912095832824708, "step_p50_ms": 19.823552131652832, "step_p95_ms": 20.346042442321778, "sample_ms": 199.12095832824707, "sample_ms_from_mean": 199.12095832824707, "output_transfer_ms": 0.06754323840141296, "total_ms": 306.72042444348335, "control_frequency_hz": 3.26029804443056, "prefill_share": 0.3033778818506238, "sample_share": 0.6491936710427229, "other_share": 0.014470100548326946, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.403290390968323, "prefix_embed_ms": 38.737918853759766, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 93.81478118896484, "step_ms": [20.190399169921875, 19.754207611083984, 20.200191497802734, 19.822303771972656, 22.471359252929688, 20.238079071044922, 19.8690242767334, 20.076032638549805, 20.242687225341797, 20.056671142578125], "step_mean_ms": 20.292095565795897, "step_p50_ms": 20.13321590423584, "step_p95_ms": 21.468456840515135, "sample_ms": 202.92095565795898, "sample_ms_from_mean": 202.92095565795898, "output_transfer_ms": 0.07965043187141418, "total_ms": 311.69368885457516, "control_frequency_hz": 3.2082779849500365, "prefill_share": 0.30098389715146073, "sample_share": 0.6510268347224524, "other_share": 0.014357079866636209, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.736679658293724, "prefix_embed_ms": 38.48121643066406, "prefill_forward_ms": 55.186431884765625, "prefill_ms": 93.66764831542969, "step_ms": [20.08131217956543, 19.710880279541016, 19.718975067138672, 19.711872100830078, 19.903648376464844, 19.853408813476562, 19.903583526611328, 20.23209571838379, 20.060096740722656, 20.104032516479492], "step_mean_ms": 19.927990531921388, "step_p50_ms": 19.903615951538086, "step_p95_ms": 20.174467277526855, "sample_ms": 199.27990531921387, "sample_ms_from_mean": 199.27990531921387, "output_transfer_ms": 0.07363967597484589, "total_ms": 308.2892373204231, "control_frequency_hz": 3.2437071390871854, "prefill_share": 0.303830419542267, "sample_share": 0.6464056515605524, "other_share": 0.014698418896801409, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.067347437143326, "prefix_embed_ms": 39.39632034301758, "prefill_forward_ms": 55.10451126098633, "prefill_ms": 94.5008316040039, "step_ms": [20.388416290283203, 20.02876853942871, 20.08064079284668, 20.096576690673828, 20.158367156982422, 20.048831939697266, 20.095584869384766, 20.19024085998535, 20.046464920043945, 20.0380802154541], "step_mean_ms": 20.117197227478027, "step_p50_ms": 20.088112831115723, "step_p95_ms": 20.29923734664917, "sample_ms": 201.17197227478027, "sample_ms_from_mean": 201.17197227478027, "output_transfer_ms": 0.06337650120258331, "total_ms": 310.4608803987503, "control_frequency_hz": 3.221017729240535, "prefill_share": 0.30438885402447086, "sample_share": 0.6479784893233526, "other_share": 0.015001415236722892, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.506264865398407, "prefix_embed_ms": 39.55276870727539, "prefill_forward_ms": 55.116798400878906, "prefill_ms": 94.6695671081543, "step_ms": [20.515487670898438, 20.024608612060547, 19.83673667907715, 20.080768585205078, 19.964576721191406, 20.01465606689453, 20.071264266967773, 20.30531120300293, 21.74358367919922, 20.051040649414062], "step_mean_ms": 20.260803413391113, "step_p50_ms": 20.061152458190918, "step_p95_ms": 21.190940475463865, "sample_ms": 202.60803413391113, "sample_ms_from_mean": 202.60803413391113, "output_transfer_ms": 0.06303936243057251, "total_ms": 312.52775713801384, "control_frequency_hz": 3.199715792150887, "prefill_share": 0.3029157089120495, "sample_share": 0.6482881264349214, "other_share": 0.014977395003197565, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.215872898697853, "prefix_embed_ms": 39.12998580932617, "prefill_forward_ms": 55.10451126098633, "prefill_ms": 94.2344970703125, "step_ms": [20.37603187561035, 20.41587257385254, 20.299999237060547, 19.848800659179688, 20.282495498657227, 20.0666561126709, 20.264192581176758, 20.782400131225586, 20.264928817749023, 20.52617645263672], "step_mean_ms": 20.312755393981934, "step_p50_ms": 20.291247367858887, "step_p95_ms": 20.667099475860596, "sample_ms": 203.12755393981934, "sample_ms_from_mean": 203.12755393981934, "output_transfer_ms": 0.06809644401073456, "total_ms": 312.3271223157644, "control_frequency_hz": 3.2017712473558237, "prefill_share": 0.30171730322876317, "sample_share": 0.6503679617502327, "other_share": 0.014987817670830982, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.043129324913025, "prefix_embed_ms": 39.065311431884766, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 94.1503677368164, "step_ms": [22.537439346313477, 20.134592056274414, 20.549375534057617, 20.44643211364746, 20.199487686157227, 20.40230369567871, 20.30499267578125, 20.219327926635742, 20.1812801361084, 20.411104202270508], "step_mean_ms": 20.53863353729248, "step_p50_ms": 20.35364818572998, "step_p95_ms": 21.642810630798337, "sample_ms": 205.3863353729248, "sample_ms_from_mean": 205.3863353729248, "output_transfer_ms": 0.06917305290699005, "total_ms": 314.4091125577688, "control_frequency_hz": 3.1805693921045695, "prefill_share": 0.29945177787910787, "sample_share": 0.6532454918436488, "other_share": 0.015139850850642837, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.386748239398003, "prefix_embed_ms": 39.7026252746582, "prefill_forward_ms": 55.170047760009766, "prefill_ms": 94.87267303466797, "step_ms": [21.2860164642334, 20.49283218383789, 20.238527297973633, 20.42265510559082, 20.382047653198242, 20.459327697753906, 20.506656646728516, 20.267391204833984, 20.703296661376953, 20.269792556762695], "step_mean_ms": 20.502854347229004, "step_p50_ms": 20.440991401672363, "step_p95_ms": 21.023792552948, "sample_ms": 205.02854347229004, "sample_ms_from_mean": 205.02854347229004, "output_transfer_ms": 0.07241964340209961, "total_ms": 315.0637913495302, "control_frequency_hz": 3.1739604088322704, "prefill_share": 0.30112210809212503, "sample_share": 0.6507524796615946, "other_share": 0.014928427476942832, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.124078020453453, "prefix_embed_ms": 39.41360092163086, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 94.45155334472656, "step_ms": [20.482528686523438, 20.325632095336914, 20.352991104125977, 20.062816619873047, 20.544384002685547, 20.305055618286133, 19.974624633789062, 20.316736221313477, 20.2093448638916, 20.476959228515625], "step_mean_ms": 20.30510730743408, "step_p50_ms": 20.321184158325195, "step_p95_ms": 20.516549110412598, "sample_ms": 203.05107307434082, "sample_ms_from_mean": 203.05107307434082, "output_transfer_ms": 0.06864033639431, "total_ms": 313.1058141589165, "control_frequency_hz": 3.193808465953466, "prefill_share": 0.3016601706948431, "sample_share": 0.6485062362057655, "other_share": 0.017280002920211666, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.260719805955887, "prefix_embed_ms": 38.88822555541992, "prefill_forward_ms": 55.09632110595703, "prefill_ms": 93.98454666137695, "step_ms": [20.597536087036133, 19.752607345581055, 20.36809539794922, 20.255136489868164, 19.800703048706055, 19.738399505615234, 19.560319900512695, 19.606687545776367, 19.907360076904297, 19.53766441345215], "step_mean_ms": 19.912450981140136, "step_p50_ms": 19.776655197143555, "step_p95_ms": 20.494287776947022, "sample_ms": 199.12450981140137, "sample_ms_from_mean": 199.12450981140137, "output_transfer_ms": 0.06654486060142517, "total_ms": 307.8292068094015, "control_frequency_hz": 3.248554646145613, "prefill_share": 0.30531393572270527, "sample_share": 0.6468668515092956, "other_share": 0.014270529153478997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.738391265273094, "prefix_embed_ms": 37.79391860961914, "prefill_forward_ms": 55.15468978881836, "prefill_ms": 92.9486083984375, "step_ms": [20.254976272583008, 20.118656158447266, 19.700096130371094, 19.861408233642578, 20.058048248291016, 20.603551864624023, 19.96873664855957, 19.83616065979004, 19.853055953979492, 19.764415740966797], "step_mean_ms": 20.001910591125487, "step_p50_ms": 19.915072441101074, "step_p95_ms": 20.446692848205565, "sample_ms": 200.01910591125488, "sample_ms_from_mean": 200.01910591125488, "output_transfer_ms": 0.059312209486961365, "total_ms": 307.0523366332054, "control_frequency_hz": 3.2567737831435783, "prefill_share": 0.3027125910117103, "sample_share": 0.6514169802595937, "other_share": 0.013961524917082743, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.886899963021278, "prefix_embed_ms": 37.92732620239258, "prefill_forward_ms": 55.034912109375, "prefill_ms": 92.96223831176758, "step_ms": [20.269023895263672, 19.98793601989746, 19.765344619750977, 19.7992000579834, 19.65228843688965, 19.655071258544922, 19.704479217529297, 19.944704055786133, 19.854816436767578, 19.76803207397461], "step_mean_ms": 19.84008960723877, "step_p50_ms": 19.783616065979004, "step_p95_ms": 20.14253435134888, "sample_ms": 198.4008960723877, "sample_ms_from_mean": 198.4008960723877, "output_transfer_ms": 0.06163865327835083, "total_ms": 305.5821545422077, "control_frequency_hz": 3.272442402594153, "prefill_share": 0.3042135704914909, "sample_share": 0.6492555050199572, "other_share": 0.013974904876727565, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.708335623145103, "prefix_embed_ms": 38.17299270629883, "prefill_forward_ms": 55.046142578125, "prefill_ms": 93.21913528442383, "step_ms": [20.633472442626953, 19.851200103759766, 19.883392333984375, 19.68227195739746, 19.752927780151367, 20.16752052307129, 19.68297576904297, 19.862688064575195, 19.780031204223633, 19.650592803955078], "step_mean_ms": 19.89470729827881, "step_p50_ms": 19.8156156539917, "step_p95_ms": 20.423794078826905, "sample_ms": 198.9470729827881, "sample_ms_from_mean": 198.9470729827881, "output_transfer_ms": 0.061471015214920044, "total_ms": 306.1909209936857, "control_frequency_hz": 3.265936157593066, "prefill_share": 0.30444774450495937, "sample_share": 0.6497484391017943, "other_share": 0.013896251640333679, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.67942364513874, "prefix_embed_ms": 38.29020690917969, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.32815933227539, "step_ms": [20.11507225036621, 19.601791381835938, 20.02899169921875, 19.581375122070312, 20.015199661254883, 19.915552139282227, 20.01033592224121, 19.933408737182617, 19.984575271606445, 19.979679107666016], "step_mean_ms": 19.91659812927246, "step_p50_ms": 19.98212718963623, "step_p95_ms": 20.076336002349855, "sample_ms": 199.1659812927246, "sample_ms_from_mean": 199.1659812927246, "output_transfer_ms": 0.06076134741306305, "total_ms": 307.148240506649, "control_frequency_hz": 3.255756889085459, "prefill_share": 0.303853797691721, "sample_share": 0.6484360156652538, "other_share": 0.015998512252557863, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.905524551868439, "prefix_embed_ms": 38.25846481323242, "prefill_forward_ms": 55.28575897216797, "prefill_ms": 93.54422378540039, "step_ms": [20.195999145507812, 19.85158348083496, 20.035808563232422, 20.5947208404541, 20.6494083404541, 20.568832397460938, 20.803552627563477, 20.670528411865234, 20.665184020996094, 20.229408264160156], "step_mean_ms": 20.42650260925293, "step_p50_ms": 20.58177661895752, "step_p95_ms": 20.74369173049927, "sample_ms": 204.2650260925293, "sample_ms_from_mean": 204.2650260925293, "output_transfer_ms": 0.06564334034919739, "total_ms": 312.3056869953871, "control_frequency_hz": 3.2019910031762264, "prefill_share": 0.2995277629599556, "sample_share": 0.6540547758118359, "other_share": 0.014489871346167943, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.203428566455841, "prefix_embed_ms": 38.338401794433594, "prefill_forward_ms": 55.133182525634766, "prefill_ms": 93.47158432006836, "step_ms": [20.373920440673828, 20.226240158081055, 19.86409568786621, 19.8288631439209, 19.955263137817383, 19.854272842407227, 19.915935516357422, 19.72515106201172, 19.926591873168945, 19.70252799987793], "step_mean_ms": 19.937286186218262, "step_p50_ms": 19.890015602111816, "step_p95_ms": 20.30746431350708, "sample_ms": 199.37286186218262, "sample_ms_from_mean": 199.37286186218262, "output_transfer_ms": 0.07514283061027527, "total_ms": 307.56077356636524, "control_frequency_hz": 3.251389923377926, "prefill_share": 0.3039125673804404, "sample_share": 0.6482389140537198, "other_share": 0.014428875098698415, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.29534824192524, "prefix_embed_ms": 37.84348678588867, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 92.8957748413086, "step_ms": [20.097951889038086, 19.570016860961914, 19.64499282836914, 19.559680938720703, 19.667232513427734, 19.678112030029297, 19.575424194335938, 19.90025520324707, 19.646432876586914, 20.131616592407227], "step_mean_ms": 19.7471715927124, "step_p50_ms": 19.656832695007324, "step_p95_ms": 20.116467475891113, "sample_ms": 197.47171592712402, "sample_ms_from_mean": 197.47171592712402, "output_transfer_ms": 0.09455718100070953, "total_ms": 305.6502006947994, "control_frequency_hz": 3.2717138667889474, "prefill_share": 0.30392839471441313, "sample_share": 0.6460709512973795, "other_share": 0.01600785634139486, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.37690432369709, "prefix_embed_ms": 38.4378547668457, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 93.49833297729492, "step_ms": [20.491872787475586, 19.936351776123047, 19.92639923095703, 20.02649688720703, 20.022048950195312, 20.263551712036133, 19.87820816040039, 19.848703384399414, 20.153024673461914, 19.585567474365234], "step_mean_ms": 20.01322250366211, "step_p50_ms": 19.97920036315918, "step_p95_ms": 20.389128303527833, "sample_ms": 200.1322250366211, "sample_ms_from_mean": 200.1322250366211, "output_transfer_ms": 0.058803707361221313, "total_ms": 309.44222025573254, "control_frequency_hz": 3.2316210734707416, "prefill_share": 0.3021511831838106, "sample_share": 0.6467515159089334, "other_share": 0.014141425844029255, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.636251419782639, "prefix_embed_ms": 38.164703369140625, "prefill_forward_ms": 55.140350341796875, "prefill_ms": 93.3050537109375, "step_ms": [20.025983810424805, 19.93814468383789, 19.859455108642578, 20.032928466796875, 19.953088760375977, 19.78950309753418, 19.80486488342285, 19.682464599609375, 19.944320678710938, 19.87843132019043], "step_mean_ms": 19.89091854095459, "step_p50_ms": 19.90828800201416, "step_p95_ms": 20.029803371429445, "sample_ms": 198.9091854095459, "sample_ms_from_mean": 198.9091854095459, "output_transfer_ms": 0.06049126386642456, "total_ms": 307.25134909152985, "control_frequency_hz": 3.254664309715044, "prefill_share": 0.3036766282290335, "sample_share": 0.6473826266269413, "other_share": 0.014126438501346967, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.484514757990837, "prefix_embed_ms": 38.086753845214844, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 93.15747451782227, "step_ms": [20.344512939453125, 19.70102310180664, 19.993440628051758, 19.752511978149414, 19.584415435791016, 19.72889518737793, 19.731168746948242, 20.099456787109375, 19.621728897094727, 19.613088607788086], "step_mean_ms": 19.81702423095703, "step_p50_ms": 19.730031967163086, "step_p95_ms": 20.234237670898438, "sample_ms": 198.1702423095703, "sample_ms_from_mean": 198.1702423095703, "output_transfer_ms": 0.06000697612762451, "total_ms": 306.12985603511333, "control_frequency_hz": 3.266587627066663, "prefill_share": 0.30430705362869614, "sample_share": 0.6473404615812449, "other_share": 0.01390788056005208, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.687576606869698, "prefix_embed_ms": 38.261985778808594, "prefill_forward_ms": 55.040000915527344, "prefill_ms": 93.30198669433594, "step_ms": [20.34342384338379, 19.783008575439453, 19.93008041381836, 19.721567153930664, 19.802751541137695, 19.79302406311035, 19.676416397094727, 19.55606460571289, 19.600032806396484, 19.82454490661621], "step_mean_ms": 19.80309143066406, "step_p50_ms": 19.788016319274902, "step_p95_ms": 20.157419300079344, "sample_ms": 198.03091430664062, "sample_ms_from_mean": 198.03091430664062, "output_transfer_ms": 0.06569735705852509, "total_ms": 306.5421134233475, "control_frequency_hz": 3.2621945116524924, "prefill_share": 0.3043692289205366, "sample_share": 0.6460153617886482, "other_share": 0.014536137983393005, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.400643572211266, "prefix_embed_ms": 37.85820770263672, "prefill_forward_ms": 55.03897476196289, "prefill_ms": 92.89718246459961, "step_ms": [20.075424194335938, 19.943584442138672, 19.94816017150879, 19.875104904174805, 19.638080596923828, 19.8690242767334, 19.727712631225586, 20.094079971313477, 19.78985595703125, 19.868192672729492], "step_mean_ms": 19.882921981811524, "step_p50_ms": 19.8720645904541, "step_p95_ms": 20.085684871673585, "sample_ms": 198.82921981811523, "sample_ms_from_mean": 198.82921981811523, "output_transfer_ms": 0.06950274109840393, "total_ms": 306.5099008381367, "control_frequency_hz": 3.262537351209693, "prefill_share": 0.30308052761289833, "sample_share": 0.6486877561684834, "other_share": 0.014072472798814994, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.625189170241356, "prefix_embed_ms": 38.575870513916016, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.60972595214844, "step_ms": [20.173343658447266, 19.75347137451172, 19.610431671142578, 19.410303115844727, 19.636383056640625, 19.720352172851562, 19.5118408203125, 19.675167083740234, 19.918304443359375, 19.86777687072754], "step_mean_ms": 19.727737426757812, "step_p50_ms": 19.6977596282959, "step_p95_ms": 20.058576011657713, "sample_ms": 197.27737426757812, "sample_ms_from_mean": 197.27737426757812, "output_transfer_ms": 0.06192922592163086, "total_ms": 305.821031332016, "control_frequency_hz": 3.269886298023583, "prefill_share": 0.3060931602526728, "sample_share": 0.6450745830276239, "other_share": 0.01388659471073417, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.669222101569176, "prefix_embed_ms": 38.86016082763672, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 93.98412704467773, "step_ms": [20.3602237701416, 19.919551849365234, 19.944543838500977, 19.790752410888672, 20.061216354370117, 19.899904251098633, 19.828319549560547, 19.666112899780273, 19.780832290649414, 19.952991485595703], "step_mean_ms": 19.920444869995116, "step_p50_ms": 19.909728050231934, "step_p95_ms": 20.225670433044435, "sample_ms": 199.20444869995117, "sample_ms_from_mean": 199.20444869995117, "output_transfer_ms": 0.06522610783576965, "total_ms": 308.5107374936342, "control_frequency_hz": 3.2413782681409393, "prefill_share": 0.3046381069528155, "sample_share": 0.6456969709330183, "other_share": 0.014870514967716592, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.731769725680351, "prefix_embed_ms": 38.246177673339844, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.28822708129883, "step_ms": [20.140928268432617, 19.874719619750977, 19.673120498657227, 19.81488037109375, 19.66329574584961, 19.58902359008789, 19.724031448364258, 19.94972801208496, 20.63190460205078, 19.99612808227539], "step_mean_ms": 19.905776023864746, "step_p50_ms": 19.844799995422363, "step_p95_ms": 20.410965251922608, "sample_ms": 199.05776023864746, "sample_ms_from_mean": 199.05776023864746, "output_transfer_ms": 0.05835294723510742, "total_ms": 307.5130805373192, "control_frequency_hz": 3.2518941901680893, "prefill_share": 0.30336344365675705, "sample_share": 0.6473147740279301, "other_share": 0.014233445084057994, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.782338678836823, "prefix_embed_ms": 38.801536560058594, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 93.87123107910156, "step_ms": [21.265727996826172, 19.695648193359375, 20.12816047668457, 20.29897689819336, 20.68160057067871, 20.356191635131836, 19.622751235961914, 20.647136688232422, 20.48873519897461, 20.857696533203125], "step_mean_ms": 20.40426254272461, "step_p50_ms": 20.422463417053223, "step_p95_ms": 21.0821138381958, "sample_ms": 204.0426254272461, "sample_ms_from_mean": 204.0426254272461, "output_transfer_ms": 0.07973238825798035, "total_ms": 313.3248817175627, "control_frequency_hz": 3.1915754488385, "prefill_share": 0.2995971164643061, "sample_share": 0.6512174338301489, "other_share": 0.014518330364266235, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.971738025546074, "prefix_embed_ms": 40.09257507324219, "prefill_forward_ms": 55.179264068603516, "prefill_ms": 95.2718391418457, "step_ms": [20.666048049926758, 19.761728286743164, 19.87820816040039, 19.954240798950195, 19.83193588256836, 19.736352920532227, 19.769344329833984, 19.75721549987793, 19.825183868408203, 19.725727081298828], "step_mean_ms": 19.890598487854003, "step_p50_ms": 19.797264099121094, "step_p95_ms": 20.345734786987304, "sample_ms": 198.90598487854004, "sample_ms_from_mean": 198.90598487854004, "output_transfer_ms": 0.06779655814170837, "total_ms": 309.76701341569424, "control_frequency_hz": 3.228232693253372, "prefill_share": 0.30755966586408257, "sample_share": 0.6421148032686638, "other_share": 0.014687344405891494, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.845059528946877, "prefix_embed_ms": 38.53007888793945, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.6038703918457, "step_ms": [20.079647064208984, 19.75939178466797, 19.910783767700195, 19.969728469848633, 19.835615158081055, 19.621824264526367, 19.594207763671875, 19.708576202392578, 19.631711959838867, 19.652511596679688], "step_mean_ms": 19.77639980316162, "step_p50_ms": 19.733983993530273, "step_p95_ms": 20.030183696746825, "sample_ms": 197.7639980316162, "sample_ms_from_mean": 197.7639980316162, "output_transfer_ms": 0.06318837404251099, "total_ms": 307.2667643427849, "control_frequency_hz": 3.254501026620654, "prefill_share": 0.30463389228592846, "sample_share": 0.6436231346225, "other_share": 0.016242069092659968, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.404719039797783, "prefix_embed_ms": 38.38633728027344, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 93.52156829833984, "step_ms": [20.557056427001953, 19.897056579589844, 19.841983795166016, 19.652511596679688, 19.987775802612305, 19.814464569091797, 19.87241554260254, 19.93404769897461, 20.045503616333008, 20.058719635009766], "step_mean_ms": 19.96615352630615, "step_p50_ms": 19.915552139282227, "step_p95_ms": 20.332804870605468, "sample_ms": 199.66153526306152, "sample_ms_from_mean": 199.66153526306152, "output_transfer_ms": 0.05828961730003357, "total_ms": 307.93021246790886, "control_frequency_hz": 3.24748907223326, "prefill_share": 0.3037102710669751, "sample_share": 0.648398653912108, "other_share": 0.013912568744309706, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.537933558225632, "prefix_embed_ms": 39.61804962158203, "prefill_forward_ms": 55.162879943847656, "prefill_ms": 94.78092956542969, "step_ms": [20.472864151000977, 20.114591598510742, 20.04400062561035, 19.910688400268555, 19.71494483947754, 20.006399154663086, 19.749696731567383, 19.97145652770996, 20.196191787719727, 19.819936752319336], "step_mean_ms": 20.000077056884766, "step_p50_ms": 19.988927841186523, "step_p95_ms": 20.348361587524415, "sample_ms": 200.00077056884766, "sample_ms_from_mean": 200.00077056884766, "output_transfer_ms": 0.06027147173881531, "total_ms": 309.7376637160778, "control_frequency_hz": 3.2285385897294483, "prefill_share": 0.30600388867241857, "sample_share": 0.6457102057571504, "other_share": 0.014069191649326088, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.394968256354332, "prefix_embed_ms": 38.38723373413086, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 93.46205139160156, "step_ms": [20.19481658935547, 19.687135696411133, 19.837696075439453, 19.863872528076172, 19.723936080932617, 19.651519775390625, 19.58790397644043, 19.571552276611328, 19.822111129760742, 19.657760620117188], "step_mean_ms": 19.759830474853516, "step_p50_ms": 19.705535888671875, "step_p95_ms": 20.045891761779785, "sample_ms": 197.59830474853516, "sample_ms_from_mean": 197.59830474853516, "output_transfer_ms": 0.077810138463974, "total_ms": 306.8643603473902, "control_frequency_hz": 3.2587687891416772, "prefill_share": 0.30457121604410664, "sample_share": 0.643927188301832, "other_share": 0.014114463496288471, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.497190058231354, "prefix_embed_ms": 37.85782241821289, "prefill_forward_ms": 55.046142578125, "prefill_ms": 92.90396499633789, "step_ms": [20.402015686035156, 19.68671989440918, 19.804767608642578, 20.172224044799805, 19.881088256835938, 19.845184326171875, 19.947328567504883, 19.974559783935547, 20.451520919799805, 21.69536018371582], "step_mean_ms": 20.18607692718506, "step_p50_ms": 19.960944175720215, "step_p95_ms": 21.135632514953613, "sample_ms": 201.8607692718506, "sample_ms_from_mean": 201.8607692718506, "output_transfer_ms": 0.06810761988162994, "total_ms": 309.91564504802227, "control_frequency_hz": 3.2266844735929587, "prefill_share": 0.2997717813889072, "sample_share": 0.651341010037011, "other_share": 0.014796326597226987, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.172892525792122, "prefix_embed_ms": 38.521568298339844, "prefill_forward_ms": 55.10041427612305, "prefill_ms": 93.62198257446289, "step_ms": [20.128192901611328, 19.72483253479004, 19.858240127563477, 19.908159255981445, 19.778879165649414, 20.704160690307617, 19.627775192260742, 19.760831832885742, 19.96188735961914, 20.18499183654785], "step_mean_ms": 19.96379508972168, "step_p50_ms": 19.88319969177246, "step_p95_ms": 20.47053470611572, "sample_ms": 199.6379508972168, "sample_ms_from_mean": 199.6379508972168, "output_transfer_ms": 0.06473995745182037, "total_ms": 309.5953520387411, "control_frequency_hz": 3.2300226518738735, "prefill_share": 0.3024011244288562, "sample_share": 0.6448351035716944, "other_share": 0.01646596452513787, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.669544339179993, "prefix_embed_ms": 38.44403076171875, "prefill_forward_ms": 55.140350341796875, "prefill_ms": 93.58438110351562, "step_ms": [20.66281509399414, 19.78873634338379, 20.289215087890625, 20.32441520690918, 19.925920486450195, 20.21334457397461, 19.564992904663086, 19.97577667236328, 19.873695373535156, 19.73072052001953], "step_mean_ms": 20.03496322631836, "step_p50_ms": 19.95084857940674, "step_p95_ms": 20.510535144805907, "sample_ms": 200.3496322631836, "sample_ms_from_mean": 200.3496322631836, "output_transfer_ms": 0.06911531090736389, "total_ms": 309.0140111744404, "control_frequency_hz": 3.236099218282674, "prefill_share": 0.30284834253255477, "sample_share": 0.6483512883501096, "other_share": 0.014049001018284234, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.56206226348877, "prefix_embed_ms": 38.418399810791016, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 93.47887802124023, "step_ms": [20.10860824584961, 19.709375381469727, 19.806495666503906, 19.647327423095703, 19.830047607421875, 19.91596794128418, 20.002431869506836, 19.954912185668945, 19.70844841003418, 19.708608627319336], "step_mean_ms": 19.83922233581543, "step_p50_ms": 19.81827163696289, "step_p95_ms": 20.06082887649536, "sample_ms": 198.3922233581543, "sample_ms_from_mean": 198.3922233581543, "output_transfer_ms": 0.06560049951076508, "total_ms": 306.9304060190916, "control_frequency_hz": 3.258067563165437, "prefill_share": 0.3045605003221013, "sample_share": 0.6463752677074749, "other_share": 0.014438588650033859, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.755838826298714, "prefix_embed_ms": 38.81846237182617, "prefill_forward_ms": 55.15468978881836, "prefill_ms": 93.97315216064453, "step_ms": [20.40928077697754, 20.010847091674805, 20.86185646057129, 19.761503219604492, 19.794015884399414, 19.67731285095215, 19.714271545410156, 19.801855087280273, 19.697887420654297, 19.60348892211914], "step_mean_ms": 19.933231925964357, "step_p50_ms": 19.777759552001953, "step_p95_ms": 20.6581974029541, "sample_ms": 199.33231925964355, "sample_ms_from_mean": 199.33231925964355, "output_transfer_ms": 0.061864033341407776, "total_ms": 308.5392713546753, "control_frequency_hz": 3.2410785039109964, "prefill_share": 0.30457436341262223, "sample_share": 0.6460516950871547, "other_share": 0.014312917300147013, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.831456631422043, "prefix_embed_ms": 37.91766357421875, "prefill_forward_ms": 55.16294479370117, "prefill_ms": 93.08060836791992, "step_ms": [20.23468780517578, 19.85968017578125, 19.83087921142578, 19.868000030517578, 20.014911651611328, 19.799423217773438, 20.704896926879883, 20.0053768157959, 19.649343490600586, 19.88652801513672], "step_mean_ms": 19.985372734069824, "step_p50_ms": 19.87726402282715, "step_p95_ms": 20.493302822113037, "sample_ms": 199.85372734069824, "sample_ms_from_mean": 199.85372734069824, "output_transfer_ms": 0.06370805203914642, "total_ms": 308.2102835178375, "control_frequency_hz": 3.244538075064343, "prefill_share": 0.30200357789986887, "sample_share": 0.6484330278004231, "other_share": 0.014213617650121772, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.555395856499672, "prefix_embed_ms": 38.02454376220703, "prefill_forward_ms": 55.14342498779297, "prefill_ms": 93.16796875, "step_ms": [21.23075294494629, 19.863008499145508, 20.18124771118164, 20.627424240112305, 20.262720108032227, 20.106464385986328, 20.93609619140625, 20.276512145996094, 20.133440017700195, 19.914623260498047], "step_mean_ms": 20.353228950500487, "step_p50_ms": 20.221983909606934, "step_p95_ms": 21.09815740585327, "sample_ms": 203.53228950500488, "sample_ms_from_mean": 203.53228950500488, "output_transfer_ms": 0.06820447742938995, "total_ms": 311.76333129405975, "control_frequency_hz": 3.207561312131302, "prefill_share": 0.29884197209235813, "sample_share": 0.6528422975857614, "other_share": 0.014239880895224438, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.998612269759178, "prefix_embed_ms": 38.82134246826172, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.88489532470703, "step_ms": [20.476736068725586, 19.905120849609375, 21.957151412963867, 20.139808654785156, 19.954463958740234, 19.823583602905273, 19.73967933654785, 19.61961555480957, 19.97088050842285, 20.331199645996094], "step_mean_ms": 20.191823959350586, "step_p50_ms": 19.962672233581543, "step_p95_ms": 21.29096450805664, "sample_ms": 201.91823959350586, "sample_ms_from_mean": 201.91823959350586, "output_transfer_ms": 0.08150376379489899, "total_ms": 311.36766634881496, "control_frequency_hz": 3.211637263837578, "prefill_share": 0.30152422833631953, "sample_share": 0.6484881425269876, "other_share": 0.014402315595686334, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.851524770259857, "prefix_embed_ms": 38.48521423339844, "prefill_forward_ms": 55.08710479736328, "prefill_ms": 93.57231903076172, "step_ms": [29.725664138793945, 29.084800720214844, 25.547744750976562, 20.176992416381836, 20.174976348876953, 19.98409652709961, 19.821983337402344, 20.073471069335938, 20.18592071533203, 20.307039260864258], "step_mean_ms": 22.508268928527833, "step_p50_ms": 20.181456565856934, "step_p95_ms": 29.43727560043335, "sample_ms": 225.08268928527832, "sample_ms_from_mean": 225.08268928527832, "output_transfer_ms": 0.061921775341033936, "total_ms": 334.5129881054163, "control_frequency_hz": 2.9894205473566435, "prefill_share": 0.27972701317437015, "sample_share": 0.672866816203702, "other_share": 0.01478128927603008, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.673746466636658, "prefix_embed_ms": 39.965824127197266, "prefill_forward_ms": 55.12192153930664, "prefill_ms": 95.0877456665039, "step_ms": [20.79052734375, 21.39606475830078, 19.966175079345703, 20.196063995361328, 20.332927703857422, 20.023744583129883, 20.57846450805664, 20.194528579711914, 20.05878448486328, 21.71673583984375], "step_mean_ms": 20.52540168762207, "step_p50_ms": 20.264495849609375, "step_p95_ms": 21.572433853149413, "sample_ms": 205.2540168762207, "sample_ms_from_mean": 205.2540168762207, "output_transfer_ms": 0.07251091301441193, "total_ms": 315.70306420326233, "control_frequency_hz": 3.1675333989034704, "prefill_share": 0.30119361022508984, "sample_share": 0.6501489537145256, "other_share": 0.014618306897126912, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.205203831195831, "prefix_embed_ms": 38.91516876220703, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 93.9582405090332, "step_ms": [20.603744506835938, 20.104736328125, 20.160064697265625, 20.53104019165039, 22.875520706176758, 19.75177574157715, 20.172767639160156, 21.014047622680664, 20.39776039123535, 20.239328384399414], "step_mean_ms": 20.585078620910643, "step_p50_ms": 20.318544387817383, "step_p95_ms": 22.037857818603513, "sample_ms": 205.85078620910645, "sample_ms_from_mean": 205.85078620910645, "output_transfer_ms": 0.06868876516819, "total_ms": 315.5508115887642, "control_frequency_hz": 3.169061727222656, "prefill_share": 0.2977594639543585, "sample_share": 0.6523538480939726, "other_share": 0.014159026407712808, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.07228547334671, "prefix_embed_ms": 40.187103271484375, "prefill_forward_ms": 55.07891082763672, "prefill_ms": 95.2660140991211, "step_ms": [20.670623779296875, 20.00227165222168, 21.414880752563477, 20.108768463134766, 20.05638313293457, 19.989824295043945, 19.9083194732666, 20.215423583984375, 20.00009536743164, 20.174848556518555], "step_mean_ms": 20.254143905639648, "step_p50_ms": 20.082575798034668, "step_p95_ms": 21.079965114593506, "sample_ms": 202.54143905639648, "sample_ms_from_mean": 202.54143905639648, "output_transfer_ms": 0.05951337516307831, "total_ms": 313.4652469307184, "control_frequency_hz": 3.19014630741831, "prefill_share": 0.30391252310077177, "sample_share": 0.6461368239049539, "other_share": 0.014438586002777472, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.578231886029243, "prefix_embed_ms": 38.88662338256836, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 93.92764663696289, "step_ms": [20.522335052490234, 20.011871337890625, 19.95782470703125, 19.76812744140625, 19.920032501220703, 19.967519760131836, 19.96886444091797, 20.021760940551758, 19.785120010375977, 19.69660758972168], "step_mean_ms": 19.96200637817383, "step_p50_ms": 19.962672233581543, "step_p95_ms": 20.29707670211792, "sample_ms": 199.62006378173828, "sample_ms_from_mean": 199.62006378173828, "output_transfer_ms": 0.05848892033100128, "total_ms": 308.72428603470325, "control_frequency_hz": 3.239136165295371, "prefill_share": 0.30424443714287064, "sample_share": 0.6465965679139971, "other_share": 0.01470520789910101, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.805796831846237, "prefix_embed_ms": 42.47836685180664, "prefill_forward_ms": 55.12908935546875, "prefill_ms": 97.60745620727539, "step_ms": [20.717599868774414, 20.085983276367188, 19.84432029724121, 19.982240676879883, 19.88915252685547, 19.902368545532227, 19.798912048339844, 19.959104537963867, 20.009855270385742, 21.3308162689209], "step_mean_ms": 20.152035331726076, "step_p50_ms": 19.970672607421875, "step_p95_ms": 21.05486888885498, "sample_ms": 201.52035331726074, "sample_ms_from_mean": 201.52035331726074, "output_transfer_ms": 0.059643760323524475, "total_ms": 314.4419025629759, "control_frequency_hz": 3.180237722291868, "prefill_share": 0.31041491420732875, "sample_share": 0.6408826294291379, "other_share": 0.014147772322993819, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 3389, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.712787508964539, "prefix_embed_ms": 38.67523193359375, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 93.72342300415039, "step_ms": [21.06483268737793, 20.482336044311523, 19.860191345214844, 19.71855926513672, 20.121440887451172, 21.664703369140625, 20.5830078125, 20.370208740234375, 20.135520935058594, 19.98566436767578], "step_mean_ms": 20.398646545410156, "step_p50_ms": 20.252864837646484, "step_p95_ms": 21.394761562347412, "sample_ms": 203.98646545410156, "sample_ms_from_mean": 203.98646545410156, "output_transfer_ms": 0.07096678018569946, "total_ms": 313.0593039095402, "control_frequency_hz": 3.194282960167043, "prefill_share": 0.2993791330706855, "sample_share": 0.6515904907047398, "other_share": 0.014584013652113826, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.392386302351952, "prefix_embed_ms": 39.09772872924805, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 94.24729537963867, "step_ms": [20.32975959777832, 19.981216430664062, 19.875295639038086, 19.720096588134766, 20.215679168701172, 21.165952682495117, 19.916704177856445, 19.9116153717041, 19.76848030090332, 19.741952896118164], "step_mean_ms": 20.062675285339356, "step_p50_ms": 19.914159774780273, "step_p95_ms": 20.789665794372556, "sample_ms": 200.62675285339355, "sample_ms_from_mean": 200.62675285339355, "output_transfer_ms": 0.060169026255607605, "total_ms": 308.79501067101955, "control_frequency_hz": 3.2383942921453754, "prefill_share": 0.3052099034075611, "sample_share": 0.6497085312920906, "other_share": 0.014470464077997259, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.867217391729355, "prefix_embed_ms": 38.6629753112793, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 93.69887924194336, "step_ms": [20.829248428344727, 20.026592254638672, 20.377119064331055, 21.87500762939453, 20.166048049926758, 20.261472702026367, 20.417407989501953, 20.176063537597656, 20.633119583129883, 20.592031478881836], "step_mean_ms": 20.535411071777343, "step_p50_ms": 20.397263526916504, "step_p95_ms": 21.404415988922118, "sample_ms": 205.35411071777344, "sample_ms_from_mean": 205.35411071777344, "output_transfer_ms": 0.07580965757369995, "total_ms": 314.0681441873312, "control_frequency_hz": 3.1840223801989076, "prefill_share": 0.2983393285059025, "sample_share": 0.653852084391235, "other_share": 0.016149766450958468, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.712789207696915, "prefix_embed_ms": 40.553470611572266, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 95.63545608520508, "step_ms": [20.52467155456543, 20.266016006469727, 19.849632263183594, 20.24563217163086, 20.4553279876709, 20.18022346496582, 20.437471389770508, 20.27129554748535, 20.127296447753906, 20.280799865722656], "step_mean_ms": 20.263836669921876, "step_p50_ms": 20.26865577697754, "step_p95_ms": 20.493466949462892, "sample_ms": 202.63836669921875, "sample_ms_from_mean": 202.63836669921875, "output_transfer_ms": 0.06488151848316193, "total_ms": 312.8085434436798, "control_frequency_hz": 3.1968436315424578, "prefill_share": 0.30573159873564626, "sample_share": 0.6478031720885626, "other_share": 0.015207544783483181, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.523263201117516, "prefix_embed_ms": 40.542335510253906, "prefill_forward_ms": 55.09423828125, "prefill_ms": 95.6365737915039, "step_ms": [21.590688705444336, 21.133888244628906, 20.231840133666992, 21.53539276123047, 20.226240158081055, 20.252479553222656, 20.118783950805664, 20.321632385253906, 20.170623779296875, 20.05251121520996], "step_mean_ms": 20.56340808868408, "step_p50_ms": 20.242159843444824, "step_p95_ms": 21.565805530548097, "sample_ms": 205.63408088684082, "sample_ms_from_mean": 205.63408088684082, "output_transfer_ms": 0.06518512964248657, "total_ms": 315.5033756047487, "control_frequency_hz": 3.1695381961705666, "prefill_share": 0.3031237735830566, "sample_share": 0.6517650738052698, "other_share": 0.01472019938532187, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.796973317861557, "prefix_embed_ms": 39.697601318359375, "prefill_forward_ms": 55.811073303222656, "prefill_ms": 95.50867462158203, "step_ms": [20.866783142089844, 20.061952590942383, 20.196128845214844, 20.187103271484375, 22.26032066345215, 20.144384384155273, 19.994016647338867, 20.45724868774414, 20.41596794128418, 20.64726448059082], "step_mean_ms": 20.523117065429688, "step_p50_ms": 20.30604839324951, "step_p95_ms": 21.63322877883911, "sample_ms": 205.23117065429688, "sample_ms_from_mean": 205.23117065429688, "output_transfer_ms": 0.07474049925804138, "total_ms": 315.70043973624706, "control_frequency_hz": 3.1675597311028554, "prefill_share": 0.3025294317023285, "sample_share": 0.6500819917316488, "other_share": 0.01611933340194293, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.860458180308342, "prefix_embed_ms": 40.073951721191406, "prefill_forward_ms": 55.46188735961914, "prefill_ms": 95.53583908081055, "step_ms": [20.839935302734375, 20.53308868408203, 20.671104431152344, 20.55561637878418, 20.57689666748047, 20.695039749145508, 20.406112670898438, 20.361183166503906, 20.30624008178711, 20.460479736328125], "step_mean_ms": 20.540569686889647, "step_p50_ms": 20.544352531433105, "step_p95_ms": 20.774732303619384, "sample_ms": 205.40569686889648, "sample_ms_from_mean": 205.40569686889648, "output_transfer_ms": 0.06335228681564331, "total_ms": 318.2401470839977, "control_frequency_hz": 3.1422811017494143, "prefill_share": 0.3002004616834041, "sample_share": 0.6454424394628022, "other_share": 0.016889134562108096, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.731076657772064, "prefix_embed_ms": 39.38060760498047, "prefill_forward_ms": 55.08915328979492, "prefill_ms": 94.46976089477539, "step_ms": [20.586591720581055, 20.023584365844727, 20.028608322143555, 20.329055786132812, 20.270015716552734, 20.531999588012695, 20.299711227416992, 20.97216033935547, 21.226240158081055, 20.92393684387207], "step_mean_ms": 20.519190406799318, "step_p50_ms": 20.430527687072754, "step_p95_ms": 21.111904239654542, "sample_ms": 205.19190406799316, "sample_ms_from_mean": 205.19190406799316, "output_transfer_ms": 0.06769411265850067, "total_ms": 314.18913044035435, "control_frequency_hz": 3.1827962940616112, "prefill_share": 0.30067800487677765, "sample_share": 0.6530840318390543, "other_share": 0.015050471989682415, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.19567996263504, "prefix_embed_ms": 41.462303161621094, "prefill_forward_ms": 55.17107009887695, "prefill_ms": 96.63337326049805, "step_ms": [21.485151290893555, 20.24224090576172, 20.934656143188477, 20.407167434692383, 20.389888763427734, 20.74787139892578, 20.51740837097168, 20.30112075805664, 20.375072479248047, 20.493152618408203], "step_mean_ms": 20.58937301635742, "step_p50_ms": 20.450160026550293, "step_p95_ms": 21.23742847442627, "sample_ms": 205.89373016357422, "sample_ms_from_mean": 205.89373016357422, "output_transfer_ms": 0.06188824772834778, "total_ms": 317.61131808161736, "control_frequency_hz": 3.1485024086674, "prefill_share": 0.304250408468334, "sample_share": 0.6482569053495292, "other_share": 0.015196707964737537, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.805671870708466, "prefix_embed_ms": 38.83919906616211, "prefill_forward_ms": 55.016448974609375, "prefill_ms": 93.85564804077148, "step_ms": [20.481983184814453, 19.864896774291992, 19.698911666870117, 20.076448440551758, 20.15839958190918, 19.782623291015625, 19.81760025024414, 19.806175231933594, 20.173919677734375, 20.18489646911621], "step_mean_ms": 20.004585456848144, "step_p50_ms": 19.970672607421875, "step_p95_ms": 20.348294162750243, "sample_ms": 200.04585456848145, "sample_ms_from_mean": 200.04585456848145, "output_transfer_ms": 0.0936947762966156, "total_ms": 308.2024324685335, "control_frequency_hz": 3.2446207253802153, "prefill_share": 0.30452598082707816, "sample_share": 0.6490729257592913, "other_share": 0.014281403222620219, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.285561740398407, "prefix_embed_ms": 38.812286376953125, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 93.96902084350586, "step_ms": [20.762720108032227, 20.430143356323242, 20.108064651489258, 19.8940486907959, 20.126176834106445, 20.04627227783203, 19.9716796875, 20.104543685913086, 19.707168579101562, 19.858911514282227], "step_mean_ms": 20.1009729385376, "step_p50_ms": 20.07540798187256, "step_p95_ms": 20.613060569763185, "sample_ms": 201.00972938537598, "sample_ms_from_mean": 201.00972938537598, "output_transfer_ms": 0.0652950257062912, "total_ms": 308.809045702219, "control_frequency_hz": 3.2382471106895245, "prefill_share": 0.30429491024080657, "sample_share": 0.650919175402677, "other_share": 0.014505529451206381, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.591784328222275, "prefix_embed_ms": 39.27977752685547, "prefill_forward_ms": 55.1014404296875, "prefill_ms": 94.38121795654297, "step_ms": [22.174144744873047, 21.03785514831543, 20.29315185546875, 20.10089683532715, 20.162656784057617, 19.868255615234375, 19.701663970947266, 19.631135940551758, 19.825664520263672, 19.671167373657227], "step_mean_ms": 20.24665927886963, "step_p50_ms": 19.98457622528076, "step_p95_ms": 21.662814426422116, "sample_ms": 202.4665927886963, "sample_ms_from_mean": 202.4665927886963, "output_transfer_ms": 0.06350874900817871, "total_ms": 311.68893352150917, "control_frequency_hz": 3.208326932566541, "prefill_share": 0.30280580349840963, "sample_share": 0.649579022588957, "other_share": 0.016637837091131737, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.437903761863708, "prefix_embed_ms": 38.92134475708008, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 94.0453109741211, "step_ms": [20.426591873168945, 19.921119689941406, 20.167808532714844, 20.188928604125977, 20.1727352142334, 19.667808532714844, 19.7379207611084, 19.69468879699707, 19.73072052001953, 19.820735931396484], "step_mean_ms": 19.95290584564209, "step_p50_ms": 19.870927810668945, "step_p95_ms": 20.319643402099608, "sample_ms": 199.5290584564209, "sample_ms_from_mean": 199.5290584564209, "output_transfer_ms": 0.06387941539287567, "total_ms": 307.5320180505514, "control_frequency_hz": 3.251693941785347, "prefill_share": 0.3058065679478686, "sample_share": 0.6488074305928782, "other_share": 0.014489110665610086, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.175732731819153, "prefix_embed_ms": 38.41193771362305, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.44579315185547, "step_ms": [20.365983963012695, 20.378271102905273, 19.807584762573242, 19.77222442626953, 20.008800506591797, 19.997312545776367, 20.56924819946289, 20.84377670288086, 21.030624389648438, 20.488832473754883], "step_mean_ms": 20.3262659072876, "step_p50_ms": 20.372127532958984, "step_p95_ms": 20.946542930603027, "sample_ms": 203.26265907287598, "sample_ms_from_mean": 203.26265907287598, "output_transfer_ms": 0.0763963907957077, "total_ms": 310.43823063373566, "control_frequency_hz": 3.221252736683163, "prefill_share": 0.30101251692194325, "sample_share": 0.6547603968039986, "other_share": 0.01442364001768911, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.116992518305779, "prefix_embed_ms": 40.11091232299805, "prefill_forward_ms": 55.23455810546875, "prefill_ms": 95.3454704284668, "step_ms": [20.837663650512695, 20.392671585083008, 20.803903579711914, 20.216352462768555, 19.868480682373047, 19.712799072265625, 19.560192108154297, 19.782880783081055, 19.761119842529297, 19.61622428894043], "step_mean_ms": 20.055228805541994, "step_p50_ms": 19.82568073272705, "step_p95_ms": 20.822471618652344, "sample_ms": 200.55228805541992, "sample_ms_from_mean": 200.55228805541992, "output_transfer_ms": 0.060189515352249146, "total_ms": 310.43347530066967, "control_frequency_hz": 3.2213020810060904, "prefill_share": 0.3071365623057248, "sample_share": 0.6460395028634571, "other_share": 0.014040157167017746, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.165771305561066, "prefix_embed_ms": 38.24313735961914, "prefill_forward_ms": 55.034881591796875, "prefill_ms": 93.27801895141602, "step_ms": [20.63100814819336, 19.897951126098633, 19.766752243041992, 20.062591552734375, 19.861631393432617, 20.026975631713867, 20.043487548828125, 19.76041603088379, 19.873247146606445, 19.93017578125], "step_mean_ms": 19.98542366027832, "step_p50_ms": 19.914063453674316, "step_p95_ms": 20.375220680236815, "sample_ms": 199.8542366027832, "sample_ms_from_mean": 199.8542366027832, "output_transfer_ms": 0.06751716136932373, "total_ms": 306.69417791068554, "control_frequency_hz": 3.260577056963946, "prefill_share": 0.30414016851203524, "sample_share": 0.6516401386040791, "other_share": 0.014113844348282677, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.446924552321434, "prefix_embed_ms": 38.274593353271484, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.3084487915039, "step_ms": [20.811296463012695, 19.92243194580078, 19.632160186767578, 19.99225616455078, 19.939456939697266, 19.80086326599121, 20.060863494873047, 19.764448165893555, 20.3353271484375, 19.788000106811523], "step_mean_ms": 20.004710388183593, "step_p50_ms": 19.930944442749023, "step_p95_ms": 20.597110271453857, "sample_ms": 200.04710388183594, "sample_ms_from_mean": 200.04710388183594, "output_transfer_ms": 0.06083399057388306, "total_ms": 307.15068988502026, "control_frequency_hz": 3.2557309259970832, "prefill_share": 0.30378720238731444, "sample_share": 0.6512995427642445, "other_share": 0.013958551323423841, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.320976212620735, "prefix_embed_ms": 38.87116622924805, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 93.96543884277344, "step_ms": [20.90278434753418, 20.331199645996094, 19.87104034423828, 19.67843246459961, 19.92969512939453, 19.739295959472656, 19.706687927246094, 19.676063537597656, 19.692031860351562, 19.839008331298828], "step_mean_ms": 19.936623954772948, "step_p50_ms": 19.789152145385742, "step_p95_ms": 20.64557123184204, "sample_ms": 199.3662395477295, "sample_ms_from_mean": 199.3662395477295, "output_transfer_ms": 0.06345286965370178, "total_ms": 307.18308687210083, "control_frequency_hz": 3.25538756115294, "prefill_share": 0.305893920787042, "sample_share": 0.6490143763375159, "other_share": 0.014541749172484034, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.119855239987373, "prefix_embed_ms": 38.093505859375, "prefill_forward_ms": 55.131103515625, "prefill_ms": 93.224609375, "step_ms": [20.388832092285156, 20.081056594848633, 19.853376388549805, 19.805728912353516, 20.002111434936523, 19.979711532592773, 19.78339195251465, 19.746719360351562, 19.72812843322754, 19.62272071838379], "step_mean_ms": 19.899177742004394, "step_p50_ms": 19.82955265045166, "step_p95_ms": 20.25033311843872, "sample_ms": 198.99177742004395, "sample_ms_from_mean": 198.99177742004395, "output_transfer_ms": 0.0654030591249466, "total_ms": 305.8176189661026, "control_frequency_hz": 3.269922783980742, "prefill_share": 0.3048372742230172, "sample_share": 0.6506877468106262, "other_share": 0.014439893577340976, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.263770654797554, "prefix_embed_ms": 38.01705551147461, "prefill_forward_ms": 55.005184173583984, "prefill_ms": 93.0222396850586, "step_ms": [20.23708724975586, 19.687744140625, 19.795936584472656, 19.88150405883789, 19.8874568939209, 19.90787124633789, 19.722143173217773, 19.786848068237305, 19.996000289916992, 20.054431915283203], "step_mean_ms": 19.895702362060547, "step_p50_ms": 19.884480476379395, "step_p95_ms": 20.154892349243163, "sample_ms": 198.95702362060547, "sample_ms_from_mean": 198.95702362060547, "output_transfer_ms": 0.07073953747749329, "total_ms": 305.65753765404224, "control_frequency_hz": 3.2716353330433736, "prefill_share": 0.3043348461124672, "sample_share": 0.6509148282343179, "other_share": 0.014211212291514346, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.162433445453644, "prefix_embed_ms": 39.390785217285156, "prefill_forward_ms": 55.140350341796875, "prefill_ms": 94.53113555908203, "step_ms": [20.5980167388916, 20.295839309692383, 20.118175506591797, 19.91846466064453, 19.97430419921875, 19.90015983581543, 19.93244743347168, 19.601119995117188, 19.793376922607422, 19.650144577026367], "step_mean_ms": 19.978204917907714, "step_p50_ms": 19.925456047058105, "step_p95_ms": 20.462036895751954, "sample_ms": 199.78204917907715, "sample_ms_from_mean": 199.78204917907715, "output_transfer_ms": 0.061281025409698486, "total_ms": 307.87557922303677, "control_frequency_hz": 3.248065346798948, "prefill_share": 0.3070433056030082, "sample_share": 0.6489051508510437, "other_share": 0.014092316204368842, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.494438767433167, "prefix_embed_ms": 40.09641647338867, "prefill_forward_ms": 55.03276824951172, "prefill_ms": 95.12918472290039, "step_ms": [19.963680267333984, 19.700639724731445, 19.801471710205078, 20.11516761779785, 20.20639991760254, 19.749664306640625, 20.51299285888672, 20.195999145507812, 20.73535919189453, 20.95884895324707], "step_mean_ms": 20.194022369384765, "step_p50_ms": 20.155583381652832, "step_p95_ms": 20.85827856063843, "sample_ms": 201.94022369384766, "sample_ms_from_mean": 201.94022369384766, "output_transfer_ms": 0.06634742021560669, "total_ms": 311.0088873654604, "control_frequency_hz": 3.215342199610263, "prefill_share": 0.3058728820540616, "sample_share": 0.6493069230415647, "other_share": 0.014078995613775694, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.634185582399368, "prefix_embed_ms": 39.913856506347656, "prefill_forward_ms": 55.16697692871094, "prefill_ms": 95.0808334350586, "step_ms": [21.01251220703125, 20.38083267211914, 19.9400634765625, 19.699583053588867, 20.025888442993164, 20.086271286010742, 19.644479751586914, 19.67353630065918, 19.666847229003906, 19.83964729309082], "step_mean_ms": 19.99696617126465, "step_p50_ms": 19.88985538482666, "step_p95_ms": 20.7282564163208, "sample_ms": 199.96966171264648, "sample_ms_from_mean": 199.96966171264648, "output_transfer_ms": 0.0650305300951004, "total_ms": 309.11258049309254, "control_frequency_hz": 3.2350672962090785, "prefill_share": 0.30759289474206075, "sample_share": 0.6469153128405754, "other_share": 0.014114175572968901, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.321575984358788, "prefix_embed_ms": 37.88956832885742, "prefill_forward_ms": 55.175167083740234, "prefill_ms": 93.06473541259766, "step_ms": [20.35651206970215, 19.9979190826416, 19.965375900268555, 20.038463592529297, 20.298080444335938, 20.073951721191406, 19.991840362548828, 20.107776641845703, 19.736928939819336, 19.66044807434082], "step_mean_ms": 20.022729682922364, "step_p50_ms": 20.01819133758545, "step_p95_ms": 20.330217838287354, "sample_ms": 200.22729682922363, "sample_ms_from_mean": 200.22729682922363, "output_transfer_ms": 0.05895458161830902, "total_ms": 306.9776687771082, "control_frequency_hz": 3.257565946030051, "prefill_share": 0.303164512856375, "sample_share": 0.6522536236165296, "other_share": 0.01402416659967432, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.821843355894089, "prefix_embed_ms": 39.891265869140625, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 94.96608352661133, "step_ms": [21.090848922729492, 20.48192024230957, 19.999616622924805, 19.8621768951416, 19.80713653564453, 19.832319259643555, 20.07587242126465, 19.88083267211914, 20.150815963745117, 19.86422348022461], "step_mean_ms": 20.104576301574706, "step_p50_ms": 19.940224647521973, "step_p95_ms": 20.816831016540526, "sample_ms": 201.04576301574707, "sample_ms_from_mean": 201.04576301574707, "output_transfer_ms": 0.05875900387763977, "total_ms": 310.4035332798958, "control_frequency_hz": 3.2216128129517267, "prefill_share": 0.30594395148517495, "sample_share": 0.6476916061211871, "other_share": 0.014532967231716204, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.320342913269997, "prefix_embed_ms": 38.91561508178711, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 93.96380615234375, "step_ms": [20.47216033935547, 19.998079299926758, 19.940319061279297, 19.80771255493164, 19.67184066772461, 19.786495208740234, 19.888063430786133, 19.769216537475586, 19.781856536865234, 19.655231475830078], "step_mean_ms": 19.877097511291502, "step_p50_ms": 19.797103881835938, "step_p95_ms": 20.25882387161255, "sample_ms": 198.77097511291504, "sample_ms_from_mean": 198.77097511291504, "output_transfer_ms": 0.05972571671009064, "total_ms": 306.4149022102356, "control_frequency_hz": 3.263548844350546, "prefill_share": 0.3066554709792602, "sample_share": 0.6486987861201851, "other_share": 0.014033430763254435, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.18024405837059, "prefix_embed_ms": 38.71699142456055, "prefill_forward_ms": 55.02463912963867, "prefill_ms": 93.74163055419922, "step_ms": [21.012128829956055, 19.92470359802246, 20.011199951171875, 19.8853759765625, 20.186431884765625, 20.0633602142334, 19.889184951782227, 19.93168067932129, 20.44576072692871, 19.784576416015625], "step_mean_ms": 20.113440322875977, "step_p50_ms": 19.971440315246582, "step_p95_ms": 20.75726318359375, "sample_ms": 201.13440322875977, "sample_ms_from_mean": 201.13440322875977, "output_transfer_ms": 0.05709007382392883, "total_ms": 308.49175713956356, "control_frequency_hz": 3.241577698128232, "prefill_share": 0.3038707789906682, "sample_share": 0.6519927958326787, "other_share": 0.014192888863572608, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.335258975625038, "prefix_embed_ms": 38.7775993347168, "prefill_forward_ms": 55.04207992553711, "prefill_ms": 93.8196792602539, "step_ms": [20.52627182006836, 20.628896713256836, 20.198463439941406, 20.48860740661621, 20.23859214782715, 19.84003257751465, 19.742080688476562, 19.804800033569336, 19.659839630126953, 19.543392181396484], "step_mean_ms": 20.067097663879395, "step_p50_ms": 20.019248008728027, "step_p95_ms": 20.58271551132202, "sample_ms": 200.67097663879395, "sample_ms_from_mean": 200.67097663879395, "output_transfer_ms": 0.06236322224140167, "total_ms": 308.2113843411207, "control_frequency_hz": 3.2445264867089554, "prefill_share": 0.30440043433443265, "sample_share": 0.651082298818321, "other_share": 0.014026432714184632, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.678823873400688, "prefix_embed_ms": 38.34672164916992, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 93.44406509399414, "step_ms": [20.48975944519043, 19.861408233642578, 19.85638427734375, 19.82316780090332, 20.072288513183594, 19.83932876586914, 20.046239852905273, 19.583295822143555, 19.75017547607422, 19.720319747924805], "step_mean_ms": 19.904236793518066, "step_p50_ms": 19.847856521606445, "step_p95_ms": 20.301897525787354, "sample_ms": 199.04236793518066, "sample_ms_from_mean": 199.04236793518066, "output_transfer_ms": 0.0608246773481369, "total_ms": 306.64684623479843, "control_frequency_hz": 3.2610803348497623, "prefill_share": 0.3047286030864454, "sample_share": 0.6490931518753486, "other_share": 0.014416468681011112, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.381875395774841, "prefix_embed_ms": 40.4958381652832, "prefill_forward_ms": 55.01747131347656, "prefill_ms": 95.51330947875977, "step_ms": [20.222272872924805, 20.052255630493164, 19.683135986328125, 20.086624145507812, 20.025056838989258, 19.923776626586914, 19.985471725463867, 20.196863174438477, 20.112672805786133, 20.166112899780273], "step_mean_ms": 20.045424270629884, "step_p50_ms": 20.06943988800049, "step_p95_ms": 20.210838508605956, "sample_ms": 200.45424270629883, "sample_ms_from_mean": 200.45424270629883, "output_transfer_ms": 0.06411969661712646, "total_ms": 309.88715775310993, "control_frequency_hz": 3.226981096121155, "prefill_share": 0.3082196441159273, "sample_share": 0.6468620518505083, "other_share": 0.014436256436362357, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.48268547654152, "prefix_embed_ms": 39.57196807861328, "prefill_forward_ms": 55.07891082763672, "prefill_ms": 94.65087890625, "step_ms": [20.585311889648438, 19.992063522338867, 19.994943618774414, 19.548831939697266, 20.03433609008789, 19.961183547973633, 19.835391998291016, 19.745887756347656, 19.66761589050293, 19.726463317871094], "step_mean_ms": 19.90920295715332, "step_p50_ms": 19.898287773132324, "step_p95_ms": 20.33737277984619, "sample_ms": 199.0920295715332, "sample_ms_from_mean": 199.0920295715332, "output_transfer_ms": 0.06454996764659882, "total_ms": 308.3226904273033, "control_frequency_hz": 3.2433551958634754, "prefill_share": 0.30698641989363057, "sample_share": 0.6457261685658369, "other_share": 0.016322335856493096, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.156424552202225, "prefix_embed_ms": 39.33612823486328, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 94.39251327514648, "step_ms": [20.258560180664062, 19.755327224731445, 19.92639923095703, 19.791584014892578, 19.705120086669922, 19.99247932434082, 19.76291275024414, 20.037151336669922, 19.940927505493164, 22.301376342773438], "step_mean_ms": 20.14718379974365, "step_p50_ms": 19.933663368225098, "step_p95_ms": 21.382109069824217, "sample_ms": 201.47183799743652, "sample_ms_from_mean": 201.47183799743652, "output_transfer_ms": 0.06415136158466339, "total_ms": 309.60474722087383, "control_frequency_hz": 3.2299246344778885, "prefill_share": 0.30488070393767674, "sample_share": 0.6507388527014586, "other_share": 0.014598678072850965, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.529460221529007, "prefix_embed_ms": 38.230560302734375, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.30435180664062, "step_ms": [20.551008224487305, 20.351327896118164, 19.887584686279297, 19.8056640625, 20.35820770263672, 20.189023971557617, 20.47964859008789, 20.240768432617188, 19.99622344970703, 20.54934310913086], "step_mean_ms": 20.240880012512207, "step_p50_ms": 20.296048164367676, "step_p95_ms": 20.550258922576905, "sample_ms": 202.40880012512207, "sample_ms_from_mean": 202.40880012512207, "output_transfer_ms": 0.06481446325778961, "total_ms": 309.82293747365475, "control_frequency_hz": 3.2276499866477226, "prefill_share": 0.30115378986287805, "sample_share": 0.6533047610212318, "other_share": 0.014574488557643425, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.573735296726227, "prefix_embed_ms": 38.79216003417969, "prefill_forward_ms": 55.06867218017578, "prefill_ms": 93.86083221435547, "step_ms": [20.463520050048828, 19.835615158081055, 19.923616409301758, 19.655168533325195, 19.762752532958984, 19.744735717773438, 19.711103439331055, 19.841951370239258, 19.629344940185547, 19.756736755371094], "step_mean_ms": 19.832454490661622, "step_p50_ms": 19.75974464416504, "step_p95_ms": 20.220563411712646, "sample_ms": 198.3245449066162, "sample_ms_from_mean": 198.3245449066162, "output_transfer_ms": 0.058960169553756714, "total_ms": 306.1269707977772, "control_frequency_hz": 3.266618414555132, "prefill_share": 0.3066075229168831, "sample_share": 0.6478506104502186, "other_share": 0.014075526240946294, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.50593315064907, "prefix_embed_ms": 38.1638069152832, "prefill_forward_ms": 55.01030349731445, "prefill_ms": 93.17411041259766, "step_ms": [20.427648544311523, 19.90656089782715, 20.225984573364258, 20.15007972717285, 20.13155174255371, 20.148544311523438, 19.900192260742188, 20.003711700439453, 19.948575973510742, 19.974271774291992], "step_mean_ms": 20.08171215057373, "step_p50_ms": 20.067631721496582, "step_p95_ms": 20.336899757385254, "sample_ms": 200.8171215057373, "sample_ms_from_mean": 200.8171215057373, "output_transfer_ms": 0.06002746522426605, "total_ms": 307.9865090548992, "control_frequency_hz": 3.246895466521061, "prefill_share": 0.3025265966957961, "sample_share": 0.6520322014167875, "other_share": 0.014381527730818182, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.514851495623589, "prefix_embed_ms": 39.11036682128906, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 94.16265487670898, "step_ms": [20.80099105834961, 20.601343154907227, 20.47337532043457, 20.285343170166016, 20.44326400756836, 20.214111328125, 19.997568130493164, 19.629024505615234, 19.697023391723633, 20.000640869140625], "step_mean_ms": 20.214268493652344, "step_p50_ms": 20.249727249145508, "step_p95_ms": 20.711149501800538, "sample_ms": 202.14268493652344, "sample_ms_from_mean": 202.14268493652344, "output_transfer_ms": 0.07523410022258759, "total_ms": 311.20265275239944, "control_frequency_hz": 3.2133402178792636, "prefill_share": 0.30257664593761396, "sample_share": 0.6495532192566276, "other_share": 0.017053927067721394, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.671088308095932, "prefix_embed_ms": 39.22563171386719, "prefill_forward_ms": 55.10348892211914, "prefill_ms": 94.32912063598633, "step_ms": [20.634336471557617, 20.24448013305664, 19.96131134033203, 19.84262466430664, 19.929439544677734, 19.93916893005371, 19.967456817626953, 19.668672561645508, 19.61484718322754, 20.013023376464844], "step_mean_ms": 19.98153610229492, "step_p50_ms": 19.95024013519287, "step_p95_ms": 20.458901119232177, "sample_ms": 199.81536102294922, "sample_ms_from_mean": 199.81536102294922, "output_transfer_ms": 0.06053037941455841, "total_ms": 308.1753607839346, "control_frequency_hz": 3.2449057492987308, "prefill_share": 0.3060891058780056, "sample_share": 0.6483820137815695, "other_share": 0.013950694911339191, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.474456310272217, "prefix_embed_ms": 38.50688171386719, "prefill_forward_ms": 55.170047760009766, "prefill_ms": 93.67692947387695, "step_ms": [20.256000518798828, 19.814207077026367, 19.792512893676758, 19.892032623291016, 19.797855377197266, 19.982303619384766, 19.973791122436523, 20.391935348510742, 19.720319747924805, 20.238815307617188], "step_mean_ms": 19.985977363586425, "step_p50_ms": 19.93291187286377, "step_p95_ms": 20.33076467514038, "sample_ms": 199.85977363586426, "sample_ms_from_mean": 199.85977363586426, "output_transfer_ms": 0.06372854113578796, "total_ms": 307.47561156749725, "control_frequency_hz": 3.25229046590734, "prefill_share": 0.3046645846033643, "sample_share": 0.6500020363143205, "other_share": 0.01431243142801909, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.419955313205719, "prefix_embed_ms": 39.4714241027832, "prefill_forward_ms": 55.214080810546875, "prefill_ms": 94.68550491333008, "step_ms": [20.68569564819336, 19.85366439819336, 19.965087890625, 19.96816062927246, 19.74687957763672, 20.015615463256836, 20.531007766723633, 20.63724708557129, 19.947711944580078, 19.766719818115234], "step_mean_ms": 20.111779022216798, "step_p50_ms": 19.96662425994873, "step_p95_ms": 20.66389379501343, "sample_ms": 201.11779022216797, "sample_ms_from_mean": 201.11779022216797, "output_transfer_ms": 0.061240047216415405, "total_ms": 309.677854180336, "control_frequency_hz": 3.229162132522611, "prefill_share": 0.3057548469649091, "sample_share": 0.649441952362051, "other_share": 0.014186883644115576, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.49973426759243, "prefix_embed_ms": 37.76323318481445, "prefill_forward_ms": 55.13113784790039, "prefill_ms": 92.89437103271484, "step_ms": [20.459135055541992, 20.023359298706055, 19.903968811035156, 20.076351165771484, 22.967296600341797, 20.179487228393555, 19.94758415222168, 19.818559646606445, 19.824607849121094, 20.040159225463867], "step_mean_ms": 20.324050903320312, "step_p50_ms": 20.03175926208496, "step_p95_ms": 21.838623905181883, "sample_ms": 203.24050903320312, "sample_ms_from_mean": 203.24050903320312, "output_transfer_ms": 0.0607464462518692, "total_ms": 310.187429189682, "control_frequency_hz": 3.223857274333617, "prefill_share": 0.29947819379846374, "sample_share": 0.655218393485959, "other_share": 0.014481787420123992, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.796706959605217, "prefix_embed_ms": 38.53433609008789, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.58560180664062, "step_ms": [21.14080047607422, 19.850528717041016, 19.885791778564453, 21.219680786132812, 21.378528594970703, 20.428863525390625, 20.054048538208008, 20.00284767150879, 19.92300796508789, 20.180320739746094], "step_mean_ms": 20.40644187927246, "step_p50_ms": 20.11718463897705, "step_p95_ms": 21.30704708099365, "sample_ms": 204.0644187927246, "sample_ms_from_mean": 204.0644187927246, "output_transfer_ms": 0.06186962127685547, "total_ms": 312.03792989254, "control_frequency_hz": 3.2047386045163844, "prefill_share": 0.2999173909366395, "sample_share": 0.6539731207132433, "other_share": 0.014515327395783225, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.4266626983881, "prefix_embed_ms": 38.88150405883789, "prefill_forward_ms": 55.797760009765625, "prefill_ms": 94.67926406860352, "step_ms": [20.57481575012207, 19.8187198638916, 20.054943084716797, 19.917760848999023, 19.9102725982666, 19.68854331970215, 21.656864166259766, 19.89936065673828, 19.97260856628418, 19.738208770751953], "step_mean_ms": 20.123209762573243, "step_p50_ms": 19.914016723632812, "step_p95_ms": 21.169942378997803, "sample_ms": 201.23209762573242, "sample_ms_from_mean": 201.23209762573242, "output_transfer_ms": 0.060128048062324524, "total_ms": 309.8267912864685, "control_frequency_hz": 3.2276098391871844, "prefill_share": 0.3055877242748264, "sample_share": 0.6494986982570901, "other_share": 0.014293918312530263, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.300917387008667, "prefix_embed_ms": 38.35017776489258, "prefill_forward_ms": 55.03897476196289, "prefill_ms": 93.38915252685547, "step_ms": [20.18499183654785, 21.62335968017578, 20.0316162109375, 19.987808227539062, 19.892223358154297, 19.83875274658203, 19.83888053894043, 19.779199600219727, 20.19900894165039, 19.790719985961914], "step_mean_ms": 20.1166561126709, "step_p50_ms": 19.94001579284668, "step_p95_ms": 20.982401847839355, "sample_ms": 201.16656112670898, "sample_ms_from_mean": 201.16656112670898, "output_transfer_ms": 0.06321631371974945, "total_ms": 308.3696197718382, "control_frequency_hz": 3.2428616046544962, "prefill_share": 0.30284809702056203, "sample_share": 0.6523553172181863, "other_share": 0.014429996122308329, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.177442640066147, "prefix_embed_ms": 41.3600959777832, "prefill_forward_ms": 55.167999267578125, "prefill_ms": 96.52809524536133, "step_ms": [20.322463989257812, 19.924640655517578, 20.084863662719727, 19.943008422851562, 19.826879501342773, 19.723167419433594, 19.62009620666504, 21.334623336791992, 19.732223510742188, 19.62246322631836], "step_mean_ms": 20.013442993164062, "step_p50_ms": 19.875760078430176, "step_p95_ms": 20.87915163040161, "sample_ms": 200.13442993164062, "sample_ms_from_mean": 200.13442993164062, "output_transfer_ms": 0.05850382149219513, "total_ms": 310.06970442831516, "control_frequency_hz": 3.2250812824288335, "prefill_share": 0.3113109532043225, "sample_share": 0.645449803942099, "other_share": 0.01345256479489183, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.833993390202522, "prefix_embed_ms": 38.648799896240234, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.73078536987305, "step_ms": [20.490400314331055, 20.299135208129883, 22.009952545166016, 20.208480834960938, 19.837087631225586, 19.830944061279297, 19.527231216430664, 19.575584411621094, 19.743648529052734, 19.612960815429688], "step_mean_ms": 20.113542556762695, "step_p50_ms": 19.83401584625244, "step_p95_ms": 21.32615404129028, "sample_ms": 201.13542556762695, "sample_ms_from_mean": 201.13542556762695, "output_transfer_ms": 0.05943700671195984, "total_ms": 309.06378477811813, "control_frequency_hz": 3.235578056218771, "prefill_share": 0.30327327233491264, "sample_share": 0.6507893692948377, "other_share": 0.013926392077265428, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.46076400578022, "prefix_embed_ms": 40.68035125732422, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 95.80431747436523, "step_ms": [20.04319953918457, 19.87049674987793, 19.907936096191406, 19.7923526763916, 19.983423233032227, 19.709503173828125, 22.872896194458008, 20.264928817749023, 19.98102378845215, 20.043424606323242], "step_mean_ms": 20.24691848754883, "step_p50_ms": 19.982223510742188, "step_p95_ms": 21.699310874938963, "sample_ms": 202.46918487548828, "sample_ms_from_mean": 202.46918487548828, "output_transfer_ms": 0.06502680480480194, "total_ms": 312.1775668114424, "control_frequency_hz": 3.2033051260342726, "prefill_share": 0.306890461261849, "sample_share": 0.6485705777756324, "other_share": 0.014024946429441383, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.285200387239456, "prefix_embed_ms": 38.68521499633789, "prefill_forward_ms": 55.216129302978516, "prefill_ms": 93.9013442993164, "step_ms": [20.418336868286133, 22.0963191986084, 20.30950355529785, 21.51945686340332, 19.922975540161133, 19.889888763427734, 19.90924835205078, 19.940927505493164, 19.961376190185547, 19.658239364624023], "step_mean_ms": 20.362627220153808, "step_p50_ms": 19.951151847839355, "step_p95_ms": 21.836731147766113, "sample_ms": 203.6262722015381, "sample_ms_from_mean": 203.6262722015381, "output_transfer_ms": 0.06267614662647247, "total_ms": 311.46208941936493, "control_frequency_hz": 3.210663621579833, "prefill_share": 0.301485630159258, "sample_share": 0.6537754645553912, "other_share": 0.014726018159047706, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.599965065717697, "prefix_embed_ms": 41.46326446533203, "prefill_forward_ms": 55.2355842590332, "prefill_ms": 96.69884872436523, "step_ms": [20.259456634521484, 20.048095703125, 22.120576858520508, 20.253856658935547, 20.373088836669922, 20.194656372070312, 20.215839385986328, 20.012895584106445, 20.316255569458008, 20.525087356567383], "step_mean_ms": 20.431980895996094, "step_p50_ms": 20.256656646728516, "step_p95_ms": 21.4026065826416, "sample_ms": 204.31980895996094, "sample_ms_from_mean": 204.31980895996094, "output_transfer_ms": 0.05655921995639801, "total_ms": 315.13853557407856, "control_frequency_hz": 3.173207612259572, "prefill_share": 0.30684552286889255, "sample_share": 0.6483491731271696, "other_share": 0.014163147632667435, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.389415547251701, "prefix_embed_ms": 40.3524169921875, "prefill_forward_ms": 55.11475372314453, "prefill_ms": 95.46717071533203, "step_ms": [21.36569595336914, 20.411968231201172, 20.216415405273438, 19.78281593322754, 20.399551391601562, 20.066944122314453, 20.06118392944336, 23.53798484802246, 19.95427131652832, 20.112287521362305], "step_mean_ms": 20.590911865234375, "step_p50_ms": 20.16435146331787, "step_p95_ms": 22.560454845428463, "sample_ms": 205.90911865234375, "sample_ms_from_mean": 205.90911865234375, "output_transfer_ms": 0.06887875497341156, "total_ms": 316.4829686284065, "control_frequency_hz": 3.159727691931929, "prefill_share": 0.3016502629796275, "sample_share": 0.6506167442271078, "other_share": 0.014687630676150091, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.261135011911392, "prefix_embed_ms": 39.15235137939453, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 94.22409439086914, "step_ms": [20.6092472076416, 20.071104049682617, 21.96009635925293, 19.79030418395996, 19.571744918823242, 19.76464080810547, 19.969247817993164, 19.70979118347168, 19.701343536376953, 19.66864013671875], "step_mean_ms": 20.081616020202638, "step_p50_ms": 19.777472496032715, "step_p95_ms": 21.35221424102783, "sample_ms": 200.81616020202637, "sample_ms_from_mean": 200.81616020202637, "output_transfer_ms": 0.05954131484031677, "total_ms": 308.59662778675556, "control_frequency_hz": 3.2404761100986934, "prefill_share": 0.30533092686929575, "sample_share": 0.6507399696564184, "other_share": 0.013725674507484471, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.465394541621208, "prefix_embed_ms": 39.5076789855957, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 94.54358291625977, "step_ms": [20.347871780395508, 19.98294448852539, 19.793088912963867, 19.954143524169922, 20.01523208618164, 19.92780876159668, 20.530080795288086, 20.230016708374023, 19.98793601989746, 22.00307273864746], "step_mean_ms": 20.277219581604005, "step_p50_ms": 20.00158405303955, "step_p95_ms": 21.34022636413574, "sample_ms": 202.77219581604004, "sample_ms_from_mean": 202.77219581604004, "output_transfer_ms": 0.0642966479063034, "total_ms": 312.0381832122803, "control_frequency_hz": 3.204736002836223, "prefill_share": 0.3029872240088693, "sample_share": 0.64983135630582, "other_share": 0.01664127523432074, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.017191991209984, "prefix_embed_ms": 38.59059143066406, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.66336059570312, "step_ms": [21.195392608642578, 20.169919967651367, 20.319807052612305, 22.679264068603516, 20.543071746826172, 20.71436882019043, 20.347488403320312, 20.4335994720459, 20.35852813720703, 20.42291259765625], "step_mean_ms": 20.718435287475586, "step_p50_ms": 20.428256034851074, "step_p95_ms": 22.01152191162109, "sample_ms": 207.18435287475586, "sample_ms_from_mean": 207.18435287475586, "output_transfer_ms": 0.06693974137306213, "total_ms": 315.3516445308924, "control_frequency_hz": 3.1710632157557637, "prefill_share": 0.297012437449102, "sample_share": 0.6569946802813001, "other_share": 0.014015463069568267, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.40142385661602, "prefix_embed_ms": 38.74224090576172, "prefill_forward_ms": 55.02463912963867, "prefill_ms": 93.76688003540039, "step_ms": [20.71388816833496, 20.584735870361328, 20.156511306762695, 20.125856399536133, 20.230112075805664, 20.163583755493164, 20.46566390991211, 20.241472244262695, 21.698368072509766, 20.113983154296875], "step_mean_ms": 20.449417495727538, "step_p50_ms": 20.23579216003418, "step_p95_ms": 21.2553521156311, "sample_ms": 204.4941749572754, "sample_ms_from_mean": 204.4941749572754, "output_transfer_ms": 0.08460879325866699, "total_ms": 312.57399916648865, "control_frequency_hz": 3.199242427926203, "prefill_share": 0.29998298094351933, "sample_share": 0.6542264407870794, "other_share": 0.015442460143228948, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.818019345402718, "prefix_embed_ms": 39.25174331665039, "prefill_forward_ms": 55.15776062011719, "prefill_ms": 94.40950393676758, "step_ms": [20.520000457763672, 20.554975509643555, 20.52521514892578, 20.09836769104004, 22.033023834228516, 20.403488159179688, 20.119264602661133, 20.704160690307617, 20.10710334777832, 20.55411148071289], "step_mean_ms": 20.56197109222412, "step_p50_ms": 20.522607803344727, "step_p95_ms": 21.43503541946411, "sample_ms": 205.6197109222412, "sample_ms_from_mean": 205.6197109222412, "output_transfer_ms": 0.06499513983726501, "total_ms": 314.52691927552223, "control_frequency_hz": 3.17937810316328, "prefill_share": 0.30016350954706633, "sample_share": 0.6537428064849372, "other_share": 0.014671844120378901, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.560972452163696, "prefix_embed_ms": 39.13212966918945, "prefill_forward_ms": 55.1833610534668, "prefill_ms": 94.31549072265625, "step_ms": [21.01263999938965, 20.830175399780273, 21.441280364990234, 21.14201545715332, 20.408512115478516, 20.52409553527832, 20.687936782836914, 21.34454345703125, 22.850879669189453, 20.190879821777344], "step_mean_ms": 21.043295860290527, "step_p50_ms": 20.92140769958496, "step_p95_ms": 22.216559982299803, "sample_ms": 210.43295860290527, "sample_ms_from_mean": 210.43295860290527, "output_transfer_ms": 0.07031485438346863, "total_ms": 319.808391854167, "control_frequency_hz": 3.126872294383073, "prefill_share": 0.2949124948718176, "sample_share": 0.6579969880804847, "other_share": 0.016974711609612076, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.881947189569473, "prefix_embed_ms": 39.28636932373047, "prefill_forward_ms": 55.119873046875, "prefill_ms": 94.40624237060547, "step_ms": [20.9552001953125, 20.199039459228516, 20.139583587646484, 20.639904022216797, 20.670560836791992, 21.562335968017578, 20.4913272857666, 20.708959579467773, 20.338783264160156, 20.369535446166992], "step_mean_ms": 20.60752296447754, "step_p50_ms": 20.5656156539917, "step_p95_ms": 21.28912487030029, "sample_ms": 206.0752296447754, "sample_ms_from_mean": 206.0752296447754, "output_transfer_ms": 0.0661797821521759, "total_ms": 315.1313066482544, "control_frequency_hz": 3.1732804037657467, "prefill_share": 0.29957747890780184, "sample_share": 0.6539344879332918, "other_share": 0.01491983678536856, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.184526443481445, "prefix_embed_ms": 40.419456481933594, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 95.56902313232422, "step_ms": [22.949663162231445, 20.613311767578125, 20.70832061767578, 20.707551956176758, 20.154752731323242, 20.205791473388672, 20.00377655029297, 20.419231414794922, 20.2926082611084, 20.639616012573242], "step_mean_ms": 20.669462394714355, "step_p50_ms": 20.516271591186523, "step_p95_ms": 21.941059017181395, "sample_ms": 206.69462394714355, "sample_ms_from_mean": 206.69462394714355, "output_transfer_ms": 0.09530596435070038, "total_ms": 317.7653755992651, "control_frequency_hz": 3.146975966510282, "prefill_share": 0.3007534189402895, "sample_share": 0.6504630139685413, "other_share": 0.0164331815639679, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.276807472109795, "prefix_embed_ms": 39.97430419921875, "prefill_forward_ms": 55.12499237060547, "prefill_ms": 95.09929656982422, "step_ms": [20.545408248901367, 20.616191864013672, 20.369152069091797, 22.129247665405273, 20.34841537475586, 20.545440673828125, 20.361696243286133, 20.4783992767334, 20.408512115478516, 20.097248077392578], "step_mean_ms": 20.589971160888673, "step_p50_ms": 20.443455696105957, "step_p95_ms": 21.448372554779052, "sample_ms": 205.89971160888672, "sample_ms_from_mean": 205.89971160888672, "output_transfer_ms": 0.07070042192935944, "total_ms": 316.1355648189783, "control_frequency_hz": 3.1631999410525284, "prefill_share": 0.3008180893038049, "sample_share": 0.6513019556239631, "other_share": 0.015148718711766785, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.542824700474739, "prefix_embed_ms": 39.7250862121582, "prefill_forward_ms": 55.12297439575195, "prefill_ms": 94.84806060791016, "step_ms": [20.523456573486328, 19.972000122070312, 20.398719787597656, 20.38688087463379, 20.181184768676758, 20.865568161010742, 21.812000274658203, 20.158048629760742, 20.45039939880371, 20.23628807067871], "step_mean_ms": 20.498454666137697, "step_p50_ms": 20.392800331115723, "step_p95_ms": 21.386105823516846, "sample_ms": 204.98454666137695, "sample_ms_from_mean": 204.98454666137695, "output_transfer_ms": 0.06674043834209442, "total_ms": 314.19667042791843, "control_frequency_hz": 3.182719914371007, "prefill_share": 0.30187481133626387, "sample_share": 0.6524083987974773, "other_share": 0.015132235530501099, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.719790890812874, "prefix_embed_ms": 39.046241760253906, "prefill_forward_ms": 55.11167907714844, "prefill_ms": 94.15792083740234, "step_ms": [20.33340835571289, 19.999103546142578, 19.92291259765625, 19.74550437927246, 20.619455337524414, 20.003231048583984, 20.081951141357422, 19.899999618530273, 21.825439453125, 20.782943725585938], "step_mean_ms": 20.32139492034912, "step_p50_ms": 20.042591094970703, "step_p95_ms": 21.35631637573242, "sample_ms": 203.2139492034912, "sample_ms_from_mean": 203.2139492034912, "output_transfer_ms": 0.064091756939888, "total_ms": 312.4560955911875, "control_frequency_hz": 3.200449644318618, "prefill_share": 0.3013476842538449, "sample_share": 0.6503760114488951, "other_share": 0.016963480557204567, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.232666343450546, "prefix_embed_ms": 38.09907150268555, "prefill_forward_ms": 55.11270523071289, "prefill_ms": 93.21177673339844, "step_ms": [20.37014389038086, 19.979936599731445, 20.28633689880371, 19.935871124267578, 20.088991165161133, 20.307104110717773, 20.146015167236328, 19.873695373535156, 20.10678482055664, 19.88876724243164], "step_mean_ms": 20.098364639282227, "step_p50_ms": 20.097887992858887, "step_p95_ms": 20.341775989532472, "sample_ms": 200.98364639282227, "sample_ms_from_mean": 200.98364639282227, "output_transfer_ms": 0.059371814131736755, "total_ms": 307.90277384221554, "control_frequency_hz": 3.247778470850831, "prefill_share": 0.30273120170448586, "sample_share": 0.6527503597477045, "other_share": 0.014339957069289588, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.429190307855606, "prefix_embed_ms": 37.9936637878418, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.04288101196289, "step_ms": [20.20240020751953, 19.68627166748047, 19.71558380126953, 19.651487350463867, 19.594240188598633, 19.75971221923828, 19.733600616455078, 19.71945571899414, 19.615360260009766, 19.624160766601562], "step_mean_ms": 19.730227279663087, "step_p50_ms": 19.700927734375, "step_p95_ms": 20.003190612792967, "sample_ms": 197.30227279663086, "sample_ms_from_mean": 197.30227279663086, "output_transfer_ms": 0.06673671305179596, "total_ms": 304.1931465268135, "control_frequency_hz": 3.287385042752282, "prefill_share": 0.3058677753733071, "sample_share": 0.6486085404926747, "other_share": 0.014306915678419916, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.400695562362671, "prefix_embed_ms": 38.445823669433594, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 93.48684692382812, "step_ms": [21.330080032348633, 20.40787124633789, 20.045440673828125, 20.15305519104004, 20.24064064025879, 20.02390480041504, 20.39913558959961, 20.33350372314453, 20.298816680908203, 19.897504806518555], "step_mean_ms": 20.31299533843994, "step_p50_ms": 20.269728660583496, "step_p95_ms": 20.9150860786438, "sample_ms": 203.1299533843994, "sample_ms_from_mean": 203.1299533843994, "output_transfer_ms": 0.05969591438770294, "total_ms": 310.4334697127342, "control_frequency_hz": 3.221302138990908, "prefill_share": 0.30114937996324315, "sample_share": 0.6543429533302892, "other_share": 0.01403288740672028, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.482085704803467, "prefix_embed_ms": 38.371585845947266, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 93.42797088623047, "step_ms": [20.111679077148438, 19.855104446411133, 19.677471160888672, 19.609407424926758, 19.924671173095703, 19.737152099609375, 19.688928604125977, 19.709503173828125, 19.850431442260742, 19.768447875976562], "step_mean_ms": 19.79327964782715, "step_p50_ms": 19.75279998779297, "step_p95_ms": 20.02752552032471, "sample_ms": 197.93279647827148, "sample_ms_from_mean": 197.93279647827148, "output_transfer_ms": 0.06266310811042786, "total_ms": 305.2684236317873, "control_frequency_hz": 3.275805561882133, "prefill_share": 0.30605186666447576, "sample_share": 0.648389355582406, "other_share": 0.014292036505007022, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.279787540435791, "prefix_embed_ms": 37.90911865234375, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 92.95833587646484, "step_ms": [20.83126449584961, 19.74448013305664, 19.77552032470703, 19.767648696899414, 20.120800018310547, 19.5894718170166, 19.64803123474121, 19.758432388305664, 19.98134422302246, 19.711776733398438], "step_mean_ms": 19.89287700653076, "step_p50_ms": 19.76304054260254, "step_p95_ms": 20.511555480957032, "sample_ms": 198.92877006530762, "sample_ms_from_mean": 198.92877006530762, "output_transfer_ms": 0.06023608148097992, "total_ms": 305.49589172005653, "control_frequency_hz": 3.2733664415898516, "prefill_share": 0.3042866971240579, "sample_share": 0.6511667601985217, "other_share": 0.013973222789781456, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.21664759516716, "prefix_embed_ms": 38.41475296020508, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 93.5643196105957, "step_ms": [20.396671295166016, 19.72640037536621, 19.87331199645996, 19.880992889404297, 19.899232864379883, 19.934335708618164, 20.02252769470215, 20.569856643676758, 21.82771110534668, 21.070592880249023], "step_mean_ms": 20.320163345336915, "step_p50_ms": 19.978431701660156, "step_p95_ms": 21.487007904052735, "sample_ms": 203.20163345336914, "sample_ms_from_mean": 203.20163345336914, "output_transfer_ms": 0.09721890091896057, "total_ms": 310.8992502093315, "control_frequency_hz": 3.2164760748914327, "prefill_share": 0.3009473954909764, "sample_share": 0.6535931923816204, "other_share": 0.015501583378009366, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.836010798811913, "prefix_embed_ms": 40.933441162109375, "prefill_forward_ms": 55.1802864074707, "prefill_ms": 96.11372756958008, "step_ms": [21.2007999420166, 20.38275146484375, 20.402080535888672, 20.34454345703125, 19.69215965270996, 19.897632598876953, 19.72831916809082, 19.984224319458008, 19.974912643432617, 19.942367553710938], "step_mean_ms": 20.154979133605956, "step_p50_ms": 19.979568481445312, "step_p95_ms": 20.841376209259032, "sample_ms": 201.54979133605957, "sample_ms_from_mean": 201.54979133605957, "output_transfer_ms": 0.06742775440216064, "total_ms": 313.14264237880707, "control_frequency_hz": 3.193432847099454, "prefill_share": 0.3069327346778654, "sample_share": 0.6436357239786136, "other_share": 0.014612142521356652, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.662039577960968, "prefix_embed_ms": 38.71110534667969, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 93.7828483581543, "step_ms": [20.289567947387695, 19.785888671875, 19.823455810546875, 19.97782325744629, 19.608671188354492, 19.612672805786133, 19.728864669799805, 19.850528717041016, 19.7010555267334, 19.544607162475586], "step_mean_ms": 19.79231357574463, "step_p50_ms": 19.757376670837402, "step_p95_ms": 20.14928283691406, "sample_ms": 197.9231357574463, "sample_ms_from_mean": 197.9231357574463, "output_transfer_ms": 0.0620037317276001, "total_ms": 305.73934502899647, "control_frequency_hz": 3.270759934103867, "prefill_share": 0.30674118291598973, "sample_share": 0.6473590624676557, "other_share": 0.014094743361534368, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.633377194404602, "prefix_embed_ms": 37.836063385009766, "prefill_forward_ms": 55.040000915527344, "prefill_ms": 92.87606430053711, "step_ms": [20.080320358276367, 19.726112365722656, 19.68764877319336, 19.795936584472656, 20.008319854736328, 19.814111709594727, 19.90176010131836, 19.772287368774414, 19.8024959564209, 19.744895935058594], "step_mean_ms": 19.833388900756837, "step_p50_ms": 19.799216270446777, "step_p95_ms": 20.047920131683348, "sample_ms": 198.33388900756836, "sample_ms_from_mean": 198.33388900756836, "output_transfer_ms": 0.06193108856678009, "total_ms": 305.2915073931217, "control_frequency_hz": 3.275557871029498, "prefill_share": 0.30422092344986607, "sample_share": 0.6496541312306313, "other_share": 0.014367401961158162, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.269202128052711, "prefix_embed_ms": 38.57846450805664, "prefill_forward_ms": 55.0645751953125, "prefill_ms": 93.64303970336914, "step_ms": [20.091936111450195, 19.819072723388672, 19.674400329589844, 19.695903778076172, 19.721567153930664, 19.71436882019043, 19.619359970092773, 19.795936584472656, 19.724224090576172, 19.687679290771484], "step_mean_ms": 19.754444885253907, "step_p50_ms": 19.717967987060547, "step_p95_ms": 19.96914758682251, "sample_ms": 197.54444885253906, "sample_ms_from_mean": 197.54444885253906, "output_transfer_ms": 0.05840696394443512, "total_ms": 304.690346121788, "control_frequency_hz": 3.2820206243104573, "prefill_share": 0.3073383876295805, "sample_share": 0.6483449553520754, "other_share": 0.0137032516029037, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.32980328798294, "prefix_embed_ms": 38.52956771850586, "prefill_forward_ms": 55.067649841308594, "prefill_ms": 93.59721755981445, "step_ms": [20.21855926513672, 19.87388801574707, 19.88688087463379, 19.631200790405273, 19.8055362701416, 19.8110408782959, 20.169984817504883, 20.000703811645508, 19.739328384399414, 19.868799209594727], "step_mean_ms": 19.900592231750487, "step_p50_ms": 19.8713436126709, "step_p95_ms": 20.196700763702392, "sample_ms": 199.00592231750488, "sample_ms_from_mean": 199.00592231750488, "output_transfer_ms": 0.07684342563152313, "total_ms": 306.4924478530884, "control_frequency_hz": 3.262723133978596, "prefill_share": 0.3053818070084343, "sample_share": 0.6493012265440706, "other_share": 0.014625682601821439, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.313546121120453, "prefix_embed_ms": 38.24319839477539, "prefill_forward_ms": 55.02668762207031, "prefill_ms": 93.2698860168457, "step_ms": [20.23468780517578, 19.727296829223633, 19.976863861083984, 19.626720428466797, 19.754047393798828, 19.672576904296875, 19.800064086914062, 19.914047241210938, 19.698368072509766, 19.910560607910156], "step_mean_ms": 19.83152332305908, "step_p50_ms": 19.777055740356445, "step_p95_ms": 20.11866703033447, "sample_ms": 198.31523323059082, "sample_ms_from_mean": 198.31523323059082, "output_transfer_ms": 0.06391666829586029, "total_ms": 305.22922053933144, "control_frequency_hz": 3.276226300460448, "prefill_share": 0.30557325360933807, "sample_share": 0.6497255828920094, "other_share": 0.013978473276377568, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.31682251393795, "prefix_embed_ms": 38.32643127441406, "prefill_forward_ms": 55.052223205566406, "prefill_ms": 93.37865447998047, "step_ms": [20.28540802001953, 19.782560348510742, 20.059999465942383, 19.75391960144043, 19.82441520690918, 19.843616485595703, 19.532928466796875, 19.74355125427246, 19.857791900634766, 19.52400016784668], "step_mean_ms": 19.820819091796874, "step_p50_ms": 19.80348777770996, "step_p95_ms": 20.183974170684813, "sample_ms": 198.20819091796875, "sample_ms_from_mean": 198.20819091796875, "output_transfer_ms": 0.06070733070373535, "total_ms": 305.1741514354944, "control_frequency_hz": 3.2768175000934607, "prefill_share": 0.3059848091351806, "sample_share": 0.6494920686618657, "other_share": 0.013794668300383074, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.356103837490082, "prefix_embed_ms": 38.36723327636719, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 93.42361831665039, "step_ms": [20.36444854736328, 21.99260711669922, 20.753952026367188, 20.284255981445312, 20.726240158081055, 20.513120651245117, 21.1778564453125, 20.53513526916504, 20.64748764038086, 20.426591873168945], "step_mean_ms": 20.74216957092285, "step_p50_ms": 20.59131145477295, "step_p95_ms": 21.625969314575194, "sample_ms": 207.42169570922852, "sample_ms_from_mean": 207.42169570922852, "output_transfer_ms": 0.06712973117828369, "total_ms": 314.7388808429241, "control_frequency_hz": 3.1772369442308186, "prefill_share": 0.29682897157938065, "sample_share": 0.6590278746423639, "other_share": 0.014203307949766281, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.706173092126846, "prefix_embed_ms": 40.13587188720703, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 95.18611145019531, "step_ms": [20.104320526123047, 19.63680076599121, 20.136831283569336, 19.669376373291016, 19.58380889892578, 19.732704162597656, 19.547103881835938, 19.654624938964844, 19.612319946289062, 19.527711868286133], "step_mean_ms": 19.7205602645874, "step_p50_ms": 19.645712852478027, "step_p95_ms": 20.122201442718506, "sample_ms": 197.20560264587402, "sample_ms_from_mean": 197.20560264587402, "output_transfer_ms": 0.1173410564661026, "total_ms": 306.7888170480728, "control_frequency_hz": 3.2595712243425847, "prefill_share": 0.31026590984012287, "sample_share": 0.6428057076636289, "other_share": 0.0149079384555724, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.624172002077103, "prefix_embed_ms": 38.998111724853516, "prefill_forward_ms": 55.13113784790039, "prefill_ms": 94.1292495727539, "step_ms": [20.30998420715332, 19.6648006439209, 19.732831954956055, 19.8591365814209, 19.836448669433594, 19.769344329833984, 19.573535919189453, 19.524864196777344, 19.7587833404541, 19.821216583251953], "step_mean_ms": 19.78509464263916, "step_p50_ms": 19.764063835144043, "step_p95_ms": 20.10710277557373, "sample_ms": 197.8509464263916, "sample_ms_from_mean": 197.8509464263916, "output_transfer_ms": 0.058768317103385925, "total_ms": 306.0252331197262, "control_frequency_hz": 3.2677043974631013, "prefill_share": 0.3075865627587897, "sample_share": 0.6465184076797563, "other_share": 0.014254042900095113, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.170545265078545, "prefix_embed_ms": 37.764320373535156, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 92.79817581176758, "step_ms": [20.152576446533203, 19.619647979736328, 19.6527042388916, 19.927616119384766, 19.709535598754883, 19.971296310424805, 19.683040618896484, 19.706239700317383, 19.73209571838379, 19.67411231994629], "step_mean_ms": 19.782886505126953, "step_p50_ms": 19.707887649536133, "step_p95_ms": 20.071000385284425, "sample_ms": 197.82886505126953, "sample_ms_from_mean": 197.82886505126953, "output_transfer_ms": 0.06210990250110626, "total_ms": 304.21880818903446, "control_frequency_hz": 3.287107743116998, "prefill_share": 0.3050376022579937, "sample_share": 0.6502847941220757, "other_share": 0.014328871329050278, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.686311706900597, "prefix_embed_ms": 38.411582946777344, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 93.48742294311523, "step_ms": [20.196992874145508, 19.650720596313477, 19.736095428466797, 20.004064559936523, 19.716543197631836, 19.646528244018555, 19.4932804107666, 19.600000381469727, 19.82326316833496, 19.83830451965332], "step_mean_ms": 19.77057933807373, "step_p50_ms": 19.726319313049316, "step_p95_ms": 20.110175132751465, "sample_ms": 197.7057933807373, "sample_ms_from_mean": 197.7057933807373, "output_transfer_ms": 0.06247498095035553, "total_ms": 305.24174496531487, "control_frequency_hz": 3.2760918730615685, "prefill_share": 0.30627338653740943, "sample_share": 0.6477023429518232, "other_share": 0.014086349670488094, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.52829234302044, "prefix_embed_ms": 37.89004898071289, "prefill_forward_ms": 55.14137649536133, "prefill_ms": 93.03142547607422, "step_ms": [20.252960205078125, 19.811840057373047, 19.6778564453125, 19.82099151611328, 20.08220863342285, 20.851423263549805, 20.125951766967773, 20.308128356933594, 20.21251106262207, 20.726240158081055], "step_mean_ms": 20.18701114654541, "step_p50_ms": 20.169231414794922, "step_p95_ms": 20.795090866088866, "sample_ms": 201.8701114654541, "sample_ms_from_mean": 201.8701114654541, "output_transfer_ms": 0.07443875074386597, "total_ms": 309.6210565418005, "control_frequency_hz": 3.2297544978663124, "prefill_share": 0.3004686648742654, "sample_share": 0.6519909004903243, "other_share": 0.016525970693524454, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.54132154583931, "prefix_embed_ms": 38.01046371459961, "prefill_forward_ms": 55.02259063720703, "prefill_ms": 93.03305435180664, "step_ms": [20.046560287475586, 19.737695693969727, 19.688800811767578, 19.754688262939453, 19.743743896484375, 19.506816864013672, 19.455455780029297, 19.628448486328125, 19.901344299316406, 19.873855590820312], "step_mean_ms": 19.733740997314452, "step_p50_ms": 19.74071979522705, "step_p95_ms": 19.981213092803955, "sample_ms": 197.33740997314453, "sample_ms_from_mean": 197.33740997314453, "output_transfer_ms": 0.0644288957118988, "total_ms": 304.3019622564316, "control_frequency_hz": 3.2862095025115616, "prefill_share": 0.30572610725858157, "sample_share": 0.6484920718547673, "other_share": 0.01421531250687087, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.437942877411842, "prefix_embed_ms": 38.67497634887695, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 93.7600326538086, "step_ms": [20.24687957763672, 19.88483238220215, 19.99635124206543, 19.70403289794922, 19.800575256347656, 19.8470401763916, 19.630207061767578, 20.10576057434082, 19.835935592651367, 19.860511779785156], "step_mean_ms": 19.89121265411377, "step_p50_ms": 19.85377597808838, "step_p95_ms": 20.183376026153564, "sample_ms": 198.9121265411377, "sample_ms_from_mean": 198.9121265411377, "output_transfer_ms": 0.061338767409324646, "total_ms": 306.5158259123564, "control_frequency_hz": 3.2624742850502444, "prefill_share": 0.30588969549852174, "sample_share": 0.6489456978251219, "other_share": 0.014173444583677492, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.182160720229149, "prefix_embed_ms": 39.71782302856445, "prefill_forward_ms": 55.08403015136719, "prefill_ms": 94.80185317993164, "step_ms": [21.49907112121582, 20.09177589416504, 20.25823974609375, 20.063072204589844, 20.455615997314453, 20.49795150756836, 20.45212745666504, 20.798240661621094, 20.89913558959961, 20.655040740966797], "step_mean_ms": 20.56702709197998, "step_p50_ms": 20.476783752441406, "step_p95_ms": 21.229100131988524, "sample_ms": 205.6702709197998, "sample_ms_from_mean": 205.6702709197998, "output_transfer_ms": 0.06658770143985748, "total_ms": 314.17073495686054, "control_frequency_hz": 3.1829826547571725, "prefill_share": 0.30175265431055853, "sample_share": 0.6546449049369313, "other_share": 0.014163834948124976, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.809613227844238, "prefix_embed_ms": 38.86550521850586, "prefill_forward_ms": 55.07788848876953, "prefill_ms": 93.94339370727539, "step_ms": [20.362560272216797, 19.897600173950195, 19.990976333618164, 20.046655654907227, 19.699968338012695, 20.096351623535156, 19.828800201416016, 20.073951721191406, 20.185760498046875, 19.650911331176758], "step_mean_ms": 19.98335361480713, "step_p50_ms": 20.018815994262695, "step_p95_ms": 20.28300037384033, "sample_ms": 199.8335361480713, "sample_ms_from_mean": 199.8335361480713, "output_transfer_ms": 0.0582672655582428, "total_ms": 308.01405012607574, "control_frequency_hz": 3.2466051454168467, "prefill_share": 0.3049971053879609, "sample_share": 0.6487805866851717, "other_share": 0.014185196342628444, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.266050532460213, "prefix_embed_ms": 38.20131301879883, "prefill_forward_ms": 55.07891082763672, "prefill_ms": 93.28022384643555, "step_ms": [20.13155174255371, 19.97203254699707, 19.913856506347656, 19.86639976501465, 19.83171272277832, 19.661344528198242, 19.523935317993164, 19.52694320678711, 19.771263122558594, 19.695552825927734], "step_mean_ms": 19.789459228515625, "step_p50_ms": 19.801487922668457, "step_p95_ms": 20.05976810455322, "sample_ms": 197.89459228515625, "sample_ms_from_mean": 197.89459228515625, "output_transfer_ms": 0.06083957850933075, "total_ms": 305.49305491149426, "control_frequency_hz": 3.2733968380712106, "prefill_share": 0.30534318979349684, "sample_share": 0.6477875326576219, "other_share": 0.01633866495059595, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.057560935616493, "prefix_embed_ms": 37.94780731201172, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 93.0246696472168, "step_ms": [19.99660873413086, 19.752607345581055, 19.883615493774414, 19.651103973388672, 19.621055603027344, 19.613344192504883, 19.60665512084961, 19.877952575683594, 19.84992027282715, 19.990272521972656], "step_mean_ms": 19.784313583374022, "step_p50_ms": 19.8012638092041, "step_p95_ms": 19.993757438659667, "sample_ms": 197.84313583374023, "sample_ms_from_mean": 197.84313583374023, "output_transfer_ms": 0.06298348307609558, "total_ms": 304.2220287024975, "control_frequency_hz": 3.287072945588409, "prefill_share": 0.3057788748696656, "sample_share": 0.6503248192694603, "other_share": 0.013916411053152333, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.270161390304565, "prefix_embed_ms": 38.192543029785156, "prefill_forward_ms": 55.046142578125, "prefill_ms": 93.23868560791016, "step_ms": [20.203519821166992, 19.76972770690918, 19.891328811645508, 20.040767669677734, 19.90332794189453, 19.73561668395996, 19.797088623046875, 19.72870445251465, 19.78544044494629, 19.560543060302734], "step_mean_ms": 19.841606521606444, "step_p50_ms": 19.791264533996582, "step_p95_ms": 20.130281352996825, "sample_ms": 198.41606521606445, "sample_ms_from_mean": 198.41606521606445, "output_transfer_ms": 0.060480087995529175, "total_ms": 305.2254617214203, "control_frequency_hz": 3.2762666468261465, "prefill_share": 0.3054747958511051, "sample_share": 0.6500639366618735, "other_share": 0.01389159801817419, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.255953133106232, "prefix_embed_ms": 38.050113677978516, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 93.14745712280273, "step_ms": [19.967519760131836, 19.797151565551758, 19.868223190307617, 19.999135971069336, 19.97283172607422, 19.86742401123047, 19.619775772094727, 19.761503219604492, 19.429311752319336, 19.395328521728516], "step_mean_ms": 19.76782054901123, "step_p50_ms": 19.832287788391113, "step_p95_ms": 19.987299060821535, "sample_ms": 197.6782054901123, "sample_ms_from_mean": 197.6782054901123, "output_transfer_ms": 0.05579739809036255, "total_ms": 304.32253703475, "control_frequency_hz": 3.2859873269452007, "prefill_share": 0.3060813636427013, "sample_share": 0.6495680780537783, "other_share": 0.013752264066333215, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.297072887420654, "prefix_embed_ms": 38.30438232421875, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 93.37919998168945, "step_ms": [20.56662368774414, 19.953535079956055, 19.878368377685547, 19.750015258789062, 19.68057632446289, 19.94220733642578, 19.679359436035156, 19.915647506713867, 19.835552215576172, 19.617919921875], "step_mean_ms": 19.88198051452637, "step_p50_ms": 19.85696029663086, "step_p95_ms": 20.290733814239502, "sample_ms": 198.81980514526367, "sample_ms_from_mean": 198.81980514526367, "output_transfer_ms": 0.06102956831455231, "total_ms": 305.77914975583553, "control_frequency_hz": 3.270334163720775, "prefill_share": 0.30538118788103336, "sample_share": 0.6502072011908633, "other_share": 0.013807488759513197, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.488467127084732, "prefix_embed_ms": 38.37919998168945, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 93.45094299316406, "step_ms": [21.051231384277344, 19.96575927734375, 19.716800689697266, 20.011167526245117, 19.82655906677246, 19.94054412841797, 19.967456817626953, 19.76246452331543, 20.783519744873047, 21.2589111328125], "step_mean_ms": 20.228441429138183, "step_p50_ms": 19.96660804748535, "step_p95_ms": 21.16545524597168, "sample_ms": 202.28441429138184, "sample_ms_from_mean": 202.28441429138184, "output_transfer_ms": 0.06052665412425995, "total_ms": 309.65944193303585, "control_frequency_hz": 3.2293541374276935, "prefill_share": 0.30178618940149393, "sample_share": 0.6532480102290116, "other_share": 0.014128717793875886, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.32685099542141, "prefix_embed_ms": 38.90083312988281, "prefill_forward_ms": 55.1014404296875, "prefill_ms": 94.00227355957031, "step_ms": [20.990816116333008, 20.261024475097656, 20.159391403198242, 20.05187225341797, 20.038816452026367, 20.085119247436523, 20.31340789794922, 20.43667221069336, 19.981279373168945, 20.07676887512207], "step_mean_ms": 20.239516830444337, "step_p50_ms": 20.122255325317383, "step_p95_ms": 20.741451358795164, "sample_ms": 202.39516830444336, "sample_ms_from_mean": 202.39516830444336, "output_transfer_ms": 0.06387941539287567, "total_ms": 310.25723926723003, "control_frequency_hz": 3.223131883600248, "prefill_share": 0.30298172504076365, "sample_share": 0.6523463200486898, "other_share": 0.014404392313156602, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.302152320742607, "prefix_embed_ms": 38.68870544433594, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 93.72665786743164, "step_ms": [20.250207901000977, 20.07097625732422, 19.963071823120117, 19.846975326538086, 19.85196876525879, 19.699392318725586, 19.560575485229492, 19.6296329498291, 19.46233558654785, 19.636415481567383], "step_mean_ms": 19.79715518951416, "step_p50_ms": 19.773183822631836, "step_p95_ms": 20.169553661346434, "sample_ms": 197.9715518951416, "sample_ms_from_mean": 197.9715518951416, "output_transfer_ms": 0.05490519106388092, "total_ms": 305.2846472710371, "control_frequency_hz": 3.2756314768498083, "prefill_share": 0.3070139907304918, "sample_share": 0.6484818469085311, "other_share": 0.013853890244609823, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.573700070381165, "prefix_embed_ms": 38.351200103759766, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 93.42294311523438, "step_ms": [20.29193687438965, 19.909088134765625, 21.2392635345459, 19.824031829833984, 20.170047760009766, 19.861888885498047, 19.795360565185547, 23.932832717895508, 22.997312545776367, 23.304000854492188], "step_mean_ms": 21.132576370239256, "step_p50_ms": 20.230992317199707, "step_p95_ms": 23.649858379364012, "sample_ms": 211.32576370239258, "sample_ms_from_mean": 211.32576370239258, "output_transfer_ms": 0.0684782862663269, "total_ms": 320.13596780598164, "control_frequency_hz": 3.1236727533410114, "prefill_share": 0.2918227019459848, "sample_share": 0.6601125301561446, "other_share": 0.014822085329015414, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.58083789050579, "prefix_embed_ms": 42.88800048828125, "prefill_forward_ms": 55.384063720703125, "prefill_ms": 98.27206420898438, "step_ms": [24.17043113708496, 20.550399780273438, 20.483808517456055, 19.87081527709961, 20.375200271606445, 19.81724739074707, 19.800064086914062, 19.96735954284668, 19.948192596435547, 20.205280303955078], "step_mean_ms": 20.518879890441895, "step_p50_ms": 20.08631992340088, "step_p95_ms": 22.54141702651977, "sample_ms": 205.18879890441895, "sample_ms_from_mean": 205.18879890441895, "output_transfer_ms": 0.06690435111522675, "total_ms": 319.904375821352, "control_frequency_hz": 3.125934109005254, "prefill_share": 0.30719199747321874, "sample_share": 0.6414066652811431, "other_share": 0.01499126247965369, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.66576486825943, "prefix_embed_ms": 40.015872955322266, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 95.09171295166016, "step_ms": [22.242143630981445, 20.43574333190918, 20.43619155883789, 19.80143928527832, 19.89347267150879, 20.321439743041992, 20.42233657836914, 19.93097686767578, 19.65692710876465, 19.683584213256836], "step_mean_ms": 20.282425498962404, "step_p50_ms": 20.126208305358887, "step_p95_ms": 21.429465198516844, "sample_ms": 202.82425498962402, "sample_ms_from_mean": 202.82425498962402, "output_transfer_ms": 0.06508827209472656, "total_ms": 312.0860382914543, "control_frequency_hz": 3.2042445906090458, "prefill_share": 0.3046971068371052, "sample_share": 0.6498985218948126, "other_share": 0.014224337731091432, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.556187316775322, "prefix_embed_ms": 38.030975341796875, "prefill_forward_ms": 55.03692626953125, "prefill_ms": 93.06790161132812, "step_ms": [20.19055938720703, 19.738399505615234, 19.66147232055664, 19.634687423706055, 20.368000030517578, 19.810848236083984, 19.904544830322266, 19.83670425415039, 19.73993682861328, 19.728191375732422], "step_mean_ms": 19.86133441925049, "step_p50_ms": 19.775392532348633, "step_p95_ms": 20.288151741027832, "sample_ms": 198.61334419250488, "sample_ms_from_mean": 198.61334419250488, "output_transfer_ms": 0.06067194044589996, "total_ms": 305.63358031213284, "control_frequency_hz": 3.2718917828948477, "prefill_share": 0.3045081025333707, "sample_share": 0.6498413688367229, "other_share": 0.014185205848948067, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.926650673151016, "prefix_embed_ms": 38.16281509399414, "prefill_forward_ms": 55.01542282104492, "prefill_ms": 93.17823791503906, "step_ms": [20.567039489746094, 19.933055877685547, 19.68230438232422, 19.649824142456055, 19.77225685119629, 19.740863800048828, 19.73535919189453, 19.508480072021484, 20.619935989379883, 20.00579261779785], "step_mean_ms": 19.92149124145508, "step_p50_ms": 19.75656032562256, "step_p95_ms": 20.59613256454468, "sample_ms": 199.21491241455078, "sample_ms_from_mean": 199.21491241455078, "output_transfer_ms": 0.06701052188873291, "total_ms": 306.92180432379246, "control_frequency_hz": 3.2581588727565043, "prefill_share": 0.30358950261070106, "sample_share": 0.6490738344688785, "other_share": 0.014775727026479344, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.954096749424934, "prefix_embed_ms": 40.349952697753906, "prefill_forward_ms": 55.13625717163086, "prefill_ms": 95.48620986938477, "step_ms": [20.550655364990234, 20.102176666259766, 19.906431198120117, 20.076000213623047, 19.981952667236328, 21.689247131347656, 19.810335159301758, 19.74220848083496, 20.046112060546875, 20.12892723083496], "step_mean_ms": 20.20340461730957, "step_p50_ms": 20.06105613708496, "step_p95_ms": 21.176880836486816, "sample_ms": 202.0340461730957, "sample_ms_from_mean": 202.0340461730957, "output_transfer_ms": 0.06324984133243561, "total_ms": 311.97031401097775, "control_frequency_hz": 3.205433193764749, "prefill_share": 0.3060746666621131, "sample_share": 0.6476066378738409, "other_share": 0.014208760188586168, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.672656655311584, "prefix_embed_ms": 37.91062545776367, "prefill_forward_ms": 55.04102325439453, "prefill_ms": 92.9516487121582, "step_ms": [20.058015823364258, 19.63542366027832, 19.705984115600586, 19.865503311157227, 20.036415100097656, 21.068256378173828, 19.832000732421875, 19.873119354248047, 19.736032485961914, 19.920896530151367], "step_mean_ms": 19.973164749145507, "step_p50_ms": 19.869311332702637, "step_p95_ms": 20.61364812850952, "sample_ms": 199.73164749145508, "sample_ms_from_mean": 199.73164749145508, "output_transfer_ms": 0.06750598549842834, "total_ms": 307.51997232437134, "control_frequency_hz": 3.251821312422604, "prefill_share": 0.30226215230701514, "sample_share": 0.6494916280779923, "other_share": 0.01657295115314414, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.652188047766685, "prefix_embed_ms": 38.83030319213867, "prefill_forward_ms": 55.08505630493164, "prefill_ms": 93.91535949707031, "step_ms": [20.664640426635742, 22.245792388916016, 20.354400634765625, 20.247615814208984, 20.515296936035156, 20.413471221923828, 19.99545669555664, 20.414655685424805, 20.22979164123535, 20.212095260620117], "step_mean_ms": 20.529321670532227, "step_p50_ms": 20.383935928344727, "step_p95_ms": 21.53427400588989, "sample_ms": 205.29321670532227, "sample_ms_from_mean": 205.29321670532227, "output_transfer_ms": 0.0672321766614914, "total_ms": 313.5422635823488, "control_frequency_hz": 3.1893626989056925, "prefill_share": 0.2995301444342745, "sample_share": 0.6547545276983178, "other_share": 0.014716571548626892, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.901773184537888, "prefix_embed_ms": 41.80464172363281, "prefill_forward_ms": 55.22739028930664, "prefill_ms": 97.03203201293945, "step_ms": [20.874624252319336, 22.37513542175293, 20.931360244750977, 20.134592056274414, 20.4902400970459, 20.841344833374023, 20.181568145751953, 20.236032485961914, 20.19353675842285, 20.515104293823242], "step_mean_ms": 20.677353858947754, "step_p50_ms": 20.50267219543457, "step_p95_ms": 21.72543659210205, "sample_ms": 206.77353858947754, "sample_ms_from_mean": 206.77353858947754, "output_transfer_ms": 0.07108785212039948, "total_ms": 318.4664733707905, "control_frequency_hz": 3.140047959885875, "prefill_share": 0.30468523416581145, "sample_share": 0.6492788280062722, "other_share": 0.014720675875532167, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.974652901291847, "prefix_embed_ms": 42.48067092895508, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 97.63740539550781, "step_ms": [20.567264556884766, 20.099136352539062, 19.973472595214844, 20.167327880859375, 20.17305564880371, 20.23958396911621, 21.023263931274414, 20.183679580688477, 20.078176498413086, 20.4617919921875], "step_mean_ms": 20.296675300598146, "step_p50_ms": 20.178367614746094, "step_p95_ms": 20.818064212799072, "sample_ms": 202.96675300598145, "sample_ms_from_mean": 202.96675300598145, "output_transfer_ms": 0.08470006287097931, "total_ms": 315.3269309550524, "control_frequency_hz": 3.171311746101835, "prefill_share": 0.30963865058968065, "sample_share": 0.6436708478760189, "other_share": 0.014789157320866542, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.65709239244461, "prefix_embed_ms": 39.85327911376953, "prefill_forward_ms": 55.11475372314453, "prefill_ms": 94.96803283691406, "step_ms": [22.43564796447754, 20.931264877319336, 20.7608642578125, 20.85558319091797, 20.549535751342773, 20.679391860961914, 20.67420768737793, 20.76825523376465, 20.174560546875, 20.92095947265625], "step_mean_ms": 20.875027084350585, "step_p50_ms": 20.764559745788574, "step_p95_ms": 21.758675575256348, "sample_ms": 208.75027084350586, "sample_ms_from_mean": 208.75027084350586, "output_transfer_ms": 0.0689048320055008, "total_ms": 318.24153661727905, "control_frequency_hz": 3.142267381654242, "prefill_share": 0.298414951883304, "sample_share": 0.655949166983037, "other_share": 0.015074197301209711, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.048601776361465, "prefix_embed_ms": 39.7276496887207, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 94.88438415527344, "step_ms": [21.262304306030273, 20.694015502929688, 20.48726463317871, 19.920352935791016, 20.71321678161621, 20.428415298461914, 20.137056350708008, 21.349599838256836, 20.51465606689453, 20.64486312866211], "step_mean_ms": 20.61517448425293, "step_p50_ms": 20.57975959777832, "step_p95_ms": 21.310316848754884, "sample_ms": 206.1517448425293, "sample_ms_from_mean": 206.1517448425293, "output_transfer_ms": 0.07053650915622711, "total_ms": 316.5517561137676, "control_frequency_hz": 3.159041075231323, "prefill_share": 0.2997436669445369, "sample_share": 0.6512418296881571, "other_share": 0.017047729877409736, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.166164487600327, "prefix_embed_ms": 39.88393783569336, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 95.01814651489258, "step_ms": [21.277952194213867, 21.226367950439453, 20.85260772705078, 21.18899154663086, 22.196063995361328, 20.96950340270996, 20.2126407623291, 20.73161506652832, 20.018911361694336, 20.133024215698242], "step_mean_ms": 20.880767822265625, "step_p50_ms": 20.91105556488037, "step_p95_ms": 21.78291368484497, "sample_ms": 208.80767822265625, "sample_ms_from_mean": 208.80767822265625, "output_transfer_ms": 0.07165223360061646, "total_ms": 318.97626258432865, "control_frequency_hz": 3.1350295219401385, "prefill_share": 0.2978846944442217, "sample_share": 0.6546182356358043, "other_share": 0.015401212258796582, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.003656148910522, "prefix_embed_ms": 39.463775634765625, "prefill_forward_ms": 55.14342498779297, "prefill_ms": 94.6072006225586, "step_ms": [20.576736450195312, 19.995359420776367, 19.975616455078125, 19.865440368652344, 19.856767654418945, 19.998271942138672, 19.802047729492188, 19.93212890625, 19.844383239746094, 19.809152603149414], "step_mean_ms": 19.965590476989746, "step_p50_ms": 19.898784637451172, "step_p95_ms": 20.316427421569824, "sample_ms": 199.65590476989746, "sample_ms_from_mean": 199.65590476989746, "output_transfer_ms": 0.05900859832763672, "total_ms": 308.9499641209841, "control_frequency_hz": 3.2367700797285166, "prefill_share": 0.30622175630197074, "sample_share": 0.6462402588003301, "other_share": 0.014967452721499718, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.523266926407814, "prefix_embed_ms": 40.57952117919922, "prefill_forward_ms": 55.09017562866211, "prefill_ms": 95.66969680786133, "step_ms": [20.500160217285156, 19.836959838867188, 19.79827117919922, 20.03887939453125, 20.036800384521484, 20.477983474731445, 22.277984619140625, 20.02956771850586, 20.49728012084961, 20.424575805664062], "step_mean_ms": 20.39184627532959, "step_p50_ms": 20.231727600097656, "step_p95_ms": 21.477963638305663, "sample_ms": 203.9184627532959, "sample_ms_from_mean": 203.9184627532959, "output_transfer_ms": 0.06714276969432831, "total_ms": 313.73560056090355, "control_frequency_hz": 3.187397280423954, "prefill_share": 0.30493733142436147, "sample_share": 0.6499691536080887, "other_share": 0.014525069184042288, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.158756747841835, "prefix_embed_ms": 40.281856536865234, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 95.34745788574219, "step_ms": [21.08073616027832, 20.32489585876465, 21.8239688873291, 20.004383087158203, 19.76198387145996, 19.81350326538086, 19.831039428710938, 20.815807342529297, 19.778112411499023, 20.048959732055664], "step_mean_ms": 20.3283390045166, "step_p50_ms": 20.026671409606934, "step_p95_ms": 21.48951416015625, "sample_ms": 203.28339004516602, "sample_ms_from_mean": 203.28339004516602, "output_transfer_ms": 0.06302818655967712, "total_ms": 313.3423514664173, "control_frequency_hz": 3.191397509210228, "prefill_share": 0.30429163960608474, "sample_share": 0.648758104653954, "other_share": 0.014328476760629615, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.913062676787376, "prefix_embed_ms": 38.994815826416016, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 94.14438247680664, "step_ms": [21.716127395629883, 21.161376953125, 20.72323226928711, 20.573823928833008, 20.956735610961914, 20.730911254882812, 20.358335494995117, 20.21174430847168, 22.365215301513672, 19.879392623901367], "step_mean_ms": 20.867689514160155, "step_p50_ms": 20.72707176208496, "step_p95_ms": 22.073125743865965, "sample_ms": 208.67689514160156, "sample_ms_from_mean": 208.67689514160156, "output_transfer_ms": 0.06759166717529297, "total_ms": 317.51411966979504, "control_frequency_hz": 3.1494662380368137, "prefill_share": 0.2965045541115271, "sample_share": 0.6572208359068225, "other_share": 0.014840876091824499, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.876076132059097, "prefix_embed_ms": 38.6036491394043, "prefill_forward_ms": 55.03180694580078, "prefill_ms": 93.63545608520508, "step_ms": [20.506847381591797, 21.736831665039062, 19.818784713745117, 19.86150360107422, 20.10576057434082, 19.760351181030273, 19.748384475708008, 19.909568786621094, 19.93827247619629, 22.840160369873047], "step_mean_ms": 20.422646522521973, "step_p50_ms": 19.92392063140869, "step_p95_ms": 22.343662452697753, "sample_ms": 204.22646522521973, "sample_ms_from_mean": 204.22646522521973, "output_transfer_ms": 0.06558001041412354, "total_ms": 312.20686063170433, "control_frequency_hz": 3.2030045655519808, "prefill_share": 0.2999147933384539, "sample_share": 0.6541383005229217, "other_share": 0.014103736125134835, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.695317596197128, "prefix_embed_ms": 38.65679931640625, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 93.70703887939453, "step_ms": [20.529024124145508, 20.43129539489746, 19.608768463134766, 21.149280548095703, 19.83011245727539, 20.161983489990234, 19.918079376220703, 19.846080780029297, 19.75071907043457, 20.005247116088867], "step_mean_ms": 20.12305908203125, "step_p50_ms": 19.961663246154785, "step_p95_ms": 20.870165157318116, "sample_ms": 201.2305908203125, "sample_ms_from_mean": 201.2305908203125, "output_transfer_ms": 0.06074272096157074, "total_ms": 309.0974949300289, "control_frequency_hz": 3.2352251842945936, "prefill_share": 0.3031633721282898, "sample_share": 0.6510262752723555, "other_share": 0.014247300561785803, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.62144322693348, "prefix_embed_ms": 38.168575286865234, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 93.2044792175293, "step_ms": [20.040416717529297, 19.72742462158203, 19.72764778137207, 19.67635154724121, 19.674976348876953, 20.058656692504883, 19.967615127563477, 20.005599975585938, 19.856544494628906, 19.596384048461914], "step_mean_ms": 19.833161735534667, "step_p50_ms": 19.79209613800049, "step_p95_ms": 20.05044870376587, "sample_ms": 198.33161735534668, "sample_ms_from_mean": 198.33161735534668, "output_transfer_ms": 0.0593625009059906, "total_ms": 305.5716399103403, "control_frequency_hz": 3.2725550063920075, "prefill_share": 0.30501678508148533, "sample_share": 0.6490511273020638, "other_share": 0.014251118365901408, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.593188762664795, "prefix_embed_ms": 38.739105224609375, "prefill_forward_ms": 55.05228805541992, "prefill_ms": 93.7913932800293, "step_ms": [20.496320724487305, 19.774368286132812, 19.730623245239258, 20.017440795898438, 19.798751831054688, 19.80803108215332, 19.727136611938477, 20.939903259277344, 19.90412712097168, 19.667999267578125], "step_mean_ms": 19.986470222473145, "step_p50_ms": 19.803391456604004, "step_p95_ms": 20.740291118621826, "sample_ms": 199.86470222473145, "sample_ms_from_mean": 199.86470222473145, "output_transfer_ms": 0.0637248158454895, "total_ms": 307.79216811060905, "control_frequency_hz": 3.248945566544231, "prefill_share": 0.30472313137715756, "sample_share": 0.6493495382017241, "other_share": 0.014552543863716457, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.945491328835487, "prefix_embed_ms": 39.08211135864258, "prefill_forward_ms": 55.10348892211914, "prefill_ms": 94.18560028076172, "step_ms": [20.34320068359375, 19.948991775512695, 19.991392135620117, 20.05072021484375, 19.795040130615234, 19.789888381958008, 19.794048309326172, 19.897151947021484, 19.613279342651367, 20.124319076538086], "step_mean_ms": 19.934803199768066, "step_p50_ms": 19.92307186126709, "step_p95_ms": 20.2447039604187, "sample_ms": 199.34803199768066, "sample_ms_from_mean": 199.34803199768066, "output_transfer_ms": 0.06078183650970459, "total_ms": 307.8961744904518, "control_frequency_hz": 3.247848082734172, "prefill_share": 0.305900521293039, "sample_share": 0.6474521235204975, "other_share": 0.014148500071082665, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.544676169753075, "prefix_embed_ms": 38.05510330200195, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.08281707763672, "step_ms": [20.299327850341797, 19.758399963378906, 19.875999450683594, 19.7574405670166, 20.030912399291992, 20.090848922729492, 19.84796714782715, 19.91529655456543, 19.74723243713379, 20.018047332763672], "step_mean_ms": 19.93414726257324, "step_p50_ms": 19.89564800262451, "step_p95_ms": 20.20551233291626, "sample_ms": 199.34147262573242, "sample_ms_from_mean": 199.34147262573242, "output_transfer_ms": 0.06309337913990021, "total_ms": 306.40079639852047, "control_frequency_hz": 3.2636990887561175, "prefill_share": 0.30379430527513535, "sample_share": 0.6505905825599054, "other_share": 0.014258243443258392, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.501205757260323, "prefix_embed_ms": 38.71916961669922, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 93.81856155395508, "step_ms": [20.510080337524414, 19.703039169311523, 19.85103988647461, 19.580608367919922, 20.590335845947266, 19.950239181518555, 19.69148826599121, 19.74892807006836, 20.139904022216797, 20.20150375366211], "step_mean_ms": 19.996716690063476, "step_p50_ms": 19.900639533996582, "step_p95_ms": 20.55422086715698, "sample_ms": 199.96716690063477, "sample_ms_from_mean": 199.96716690063477, "output_transfer_ms": 0.06214715540409088, "total_ms": 307.8467417508364, "control_frequency_hz": 3.24836960856768, "prefill_share": 0.30475736407140386, "sample_share": 0.6495672676714028, "other_share": 0.014610063299686997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.45909321308136, "prefix_embed_ms": 38.37062454223633, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 93.43724822998047, "step_ms": [21.111391067504883, 20.58198356628418, 20.09699249267578, 20.25814437866211, 20.031999588012695, 20.0067195892334, 19.993759155273438, 19.661407470703125, 19.80291175842285, 19.763647079467773], "step_mean_ms": 20.130895614624023, "step_p50_ms": 20.019359588623047, "step_p95_ms": 20.873157691955566, "sample_ms": 201.30895614624023, "sample_ms_from_mean": 201.30895614624023, "output_transfer_ms": 0.07392652332782745, "total_ms": 308.7217826396227, "control_frequency_hz": 3.2391624311372955, "prefill_share": 0.3026584241354025, "sample_share": 0.6520724078003668, "other_share": 0.014390168678763714, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.60919277369976, "prefix_embed_ms": 38.54732894897461, "prefill_forward_ms": 55.191551208496094, "prefill_ms": 93.7388801574707, "step_ms": [20.708255767822266, 19.855072021484375, 19.805984497070312, 19.807424545288086, 19.84003257751465, 19.746623992919922, 19.71455955505371, 19.823360443115234, 19.747455596923828, 19.883359909057617], "step_mean_ms": 19.893212890625, "step_p50_ms": 19.81539249420166, "step_p95_ms": 20.337052631378175, "sample_ms": 198.93212890625, "sample_ms_from_mean": 198.93212890625, "output_transfer_ms": 0.06650388240814209, "total_ms": 307.7889271080494, "control_frequency_hz": 3.24897977778437, "prefill_share": 0.30455572602377484, "sample_share": 0.6463264639679998, "other_share": 0.014432687458770549, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.163571685552597, "prefix_embed_ms": 39.02326583862305, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 94.07145690917969, "step_ms": [20.78144073486328, 20.128864288330078, 19.97964859008789, 19.9399356842041, 19.95305633544922, 19.74163246154785, 19.5664005279541, 19.789535522460938, 20.060895919799805, 19.790559768676758], "step_mean_ms": 19.973196983337402, "step_p50_ms": 19.94649600982666, "step_p95_ms": 20.48778133392334, "sample_ms": 199.73196983337402, "sample_ms_from_mean": 199.73196983337402, "output_transfer_ms": 0.06029941141605377, "total_ms": 308.4471356123686, "control_frequency_hz": 3.2420466412005173, "prefill_share": 0.3049840509052452, "sample_share": 0.6475403619386533, "other_share": 0.014329320206107268, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.609265252947807, "prefix_embed_ms": 38.37014389038086, "prefill_forward_ms": 55.09324645996094, "prefill_ms": 93.4633903503418, "step_ms": [20.544544219970703, 19.986623764038086, 20.082015991210938, 20.13532829284668, 20.013151168823242, 20.281696319580078, 19.895296096801758, 20.05779266357422, 20.14169692993164, 19.82796859741211], "step_mean_ms": 20.096611404418944, "step_p50_ms": 20.069904327392578, "step_p95_ms": 20.426262664794923, "sample_ms": 200.96611404418945, "sample_ms_from_mean": 200.96611404418945, "output_transfer_ms": 0.06159953773021698, "total_ms": 308.4975369274616, "control_frequency_hz": 3.241516966260688, "prefill_share": 0.3029631655448784, "sample_share": 0.6514350683177205, "other_share": 0.014253493840005196, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.632572531700134, "prefix_embed_ms": 38.200191497802734, "prefill_forward_ms": 55.07993698120117, "prefill_ms": 93.2801284790039, "step_ms": [20.367647171020508, 19.747039794921875, 20.216064453125, 19.877376556396484, 19.796384811401367, 20.026912689208984, 19.729440689086914, 19.69001579284668, 19.882144927978516, 19.598304748535156], "step_mean_ms": 19.89313316345215, "step_p50_ms": 19.836880683898926, "step_p95_ms": 20.29943494796753, "sample_ms": 198.93133163452148, "sample_ms_from_mean": 198.93133163452148, "output_transfer_ms": 0.05894899368286133, "total_ms": 306.18923529982567, "control_frequency_hz": 3.265954137874191, "prefill_share": 0.304648621587439, "sample_share": 0.6497006057045884, "other_share": 0.013998707879851198, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.59937833249569, "prefix_embed_ms": 38.43708801269531, "prefill_forward_ms": 55.17414474487305, "prefill_ms": 93.61123275756836, "step_ms": [20.73468780517578, 19.985536575317383, 19.81808090209961, 20.156320571899414, 19.994304656982422, 19.783008575439453, 19.831872940063477, 20.027103424072266, 20.304607391357422, 19.767391204833984], "step_mean_ms": 20.040291404724123, "step_p50_ms": 19.989920616149902, "step_p95_ms": 20.541151618957517, "sample_ms": 200.4029140472412, "sample_ms_from_mean": 200.4029140472412, "output_transfer_ms": 0.06763450801372528, "total_ms": 308.68364311754704, "control_frequency_hz": 3.2395626470535044, "prefill_share": 0.3032594529860499, "sample_share": 0.6492177947081167, "other_share": 0.016205858599132508, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.369539260864258, "prefix_embed_ms": 38.4317741394043, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 93.4881591796875, "step_ms": [20.287200927734375, 19.76595115661621, 19.72211265563965, 19.452192306518555, 19.57619285583496, 19.705472946166992, 19.692096710205078, 19.740032196044922, 19.806400299072266, 19.776287078857422], "step_mean_ms": 19.752393913269042, "step_p50_ms": 19.731072425842285, "step_p95_ms": 20.070840644836426, "sample_ms": 197.52393913269043, "sample_ms_from_mean": 197.52393913269043, "output_transfer_ms": 0.07132813334465027, "total_ms": 306.53042159974575, "control_frequency_hz": 3.262318939768259, "prefill_share": 0.30498819233596436, "sample_share": 0.6443860876902088, "other_share": 0.016564280526090283, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.872524067759514, "prefix_embed_ms": 38.573726654052734, "prefill_forward_ms": 55.02463912963867, "prefill_ms": 93.5983657836914, "step_ms": [20.524703979492188, 19.912384033203125, 19.804576873779297, 19.538623809814453, 20.277599334716797, 19.87174415588379, 19.74297523498535, 19.610015869140625, 19.816448211669922, 19.757247924804688], "step_mean_ms": 19.885631942749022, "step_p50_ms": 19.81051254272461, "step_p95_ms": 20.41350688934326, "sample_ms": 198.85631942749023, "sample_ms_from_mean": 198.85631942749023, "output_transfer_ms": 0.05847960710525513, "total_ms": 306.69144727289677, "control_frequency_hz": 3.2606060876232754, "prefill_share": 0.3051874012658943, "sample_share": 0.6483921256876333, "other_share": 0.014039382007999248, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.962908923625946, "prefix_embed_ms": 38.03916931152344, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 93.10477066040039, "step_ms": [20.155872344970703, 20.242176055908203, 19.853471755981445, 19.795263290405273, 20.108320236206055, 19.85171127319336, 20.117023468017578, 20.01728057861328, 19.510271072387695, 20.165407180786133], "step_mean_ms": 19.981679725646973, "step_p50_ms": 20.062800407409668, "step_p95_ms": 20.20763006210327, "sample_ms": 199.81679725646973, "sample_ms_from_mean": 199.81679725646973, "output_transfer_ms": 0.0583939254283905, "total_ms": 307.2088360786438, "control_frequency_hz": 3.2551147055679266, "prefill_share": 0.30306670813519854, "sample_share": 0.6504265951690195, "other_share": 0.013886206422875419, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.821657091379166, "prefix_embed_ms": 39.15046310424805, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 94.21094131469727, "step_ms": [20.535968780517578, 19.667423248291016, 19.63315200805664, 19.708192825317383, 20.073728561401367, 19.807552337646484, 22.999839782714844, 19.796768188476562, 19.87596893310547, 19.64463996887207], "step_mean_ms": 20.17432346343994, "step_p50_ms": 19.802160263061523, "step_p95_ms": 21.89109783172607, "sample_ms": 201.7432346343994, "sample_ms_from_mean": 201.7432346343994, "output_transfer_ms": 0.0911615788936615, "total_ms": 310.30755676329136, "control_frequency_hz": 3.222609241072461, "prefill_share": 0.30360505009087874, "sample_share": 0.6501396122566654, "other_share": 0.0143101966005591, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.806748479604721, "prefix_embed_ms": 38.314430236816406, "prefill_forward_ms": 55.032833099365234, "prefill_ms": 93.34726333618164, "step_ms": [21.16851234436035, 20.372480392456055, 20.722944259643555, 21.14588737487793, 20.37673568725586, 20.588224411010742, 20.14041519165039, 19.94607925415039, 19.739328384399414, 19.726207733154297], "step_mean_ms": 20.392681503295897, "step_p50_ms": 20.374608039855957, "step_p95_ms": 21.15833110809326, "sample_ms": 203.92681503295898, "sample_ms_from_mean": 203.92681503295898, "output_transfer_ms": 0.06875395774841309, "total_ms": 311.8324242532253, "control_frequency_hz": 3.2068506102109002, "prefill_share": 0.2993507283911517, "sample_share": 0.6539628312268099, "other_share": 0.015017179364673243, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.772548452019691, "prefix_embed_ms": 38.13024139404297, "prefill_forward_ms": 55.07174301147461, "prefill_ms": 93.20198440551758, "step_ms": [20.173280715942383, 19.54038429260254, 19.918624877929688, 20.02092742919922, 19.760704040527344, 19.96953582763672, 19.961088180541992, 19.72991943359375, 19.96281623840332, 20.20185661315918], "step_mean_ms": 19.923913764953614, "step_p50_ms": 19.961952209472656, "step_p95_ms": 20.18899745941162, "sample_ms": 199.23913764953613, "sample_ms_from_mean": 199.23913764953613, "output_transfer_ms": 0.07448159158229828, "total_ms": 307.2530198842287, "control_frequency_hz": 3.254646611371939, "prefill_share": 0.30333952271855813, "sample_share": 0.6484529842037301, "other_share": 0.016158890114224885, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.822942316532135, "prefix_embed_ms": 38.3037109375, "prefill_forward_ms": 55.030784606933594, "prefill_ms": 93.3344955444336, "step_ms": [20.173791885375977, 19.65337562561035, 19.87161636352539, 19.889184951782227, 19.708351135253906, 19.657888412475586, 19.705440521240234, 19.683040618896484, 19.800064086914062, 19.739072799682617], "step_mean_ms": 19.788182640075682, "step_p50_ms": 19.72371196746826, "step_p95_ms": 20.04571876525879, "sample_ms": 197.88182640075684, "sample_ms_from_mean": 197.88182640075684, "output_transfer_ms": 0.06199255585670471, "total_ms": 305.4755236953497, "control_frequency_hz": 3.273584698056852, "prefill_share": 0.3055383764151132, "sample_share": 0.6477829189290599, "other_share": 0.014319533116286181, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.67259518802166, "prefix_embed_ms": 37.657440185546875, "prefill_forward_ms": 55.1464958190918, "prefill_ms": 92.80393600463867, "step_ms": [20.410655975341797, 19.77030372619629, 19.695232391357422, 19.86720085144043, 20.142303466796875, 19.785791397094727, 19.777727127075195, 19.822208404541016, 19.765151977539062, 19.6364803314209], "step_mean_ms": 19.867305564880372, "step_p50_ms": 19.78175926208496, "step_p95_ms": 20.28989734649658, "sample_ms": 198.6730556488037, "sample_ms_from_mean": 198.6730556488037, "output_transfer_ms": 0.06921589374542236, "total_ms": 305.6593742221594, "control_frequency_hz": 3.271615675275118, "prefill_share": 0.30361881176000477, "sample_share": 0.649981883115432, "other_share": 0.0145278432838851, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.797511622309685, "prefix_embed_ms": 38.105377197265625, "prefill_forward_ms": 55.08403015136719, "prefill_ms": 93.18940734863281, "step_ms": [20.145376205444336, 19.895360946655273, 19.707263946533203, 19.72220802307129, 19.525632858276367, 19.5, 19.553056716918945, 20.31648063659668, 19.861215591430664, 19.759296417236328], "step_mean_ms": 19.798589134216307, "step_p50_ms": 19.74075222015381, "step_p95_ms": 20.239483642578126, "sample_ms": 197.9858913421631, "sample_ms_from_mean": 197.9858913421631, "output_transfer_ms": 0.06476044654846191, "total_ms": 305.3220473229885, "control_frequency_hz": 3.2752302323655593, "prefill_share": 0.3052167642844714, "sample_share": 0.6484493769056953, "other_share": 0.014032647170094734, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.878026321530342, "prefix_embed_ms": 38.55673599243164, "prefill_forward_ms": 55.049217224121094, "prefill_ms": 93.60595321655273, "step_ms": [20.69830322265625, 20.21993637084961, 20.224224090576172, 20.473087310791016, 20.203487396240234, 19.80384063720703, 20.08950424194336, 19.893407821655273, 19.8404483795166, 19.520416259765625], "step_mean_ms": 20.096665573120116, "step_p50_ms": 20.146495819091797, "step_p95_ms": 20.596956062316895, "sample_ms": 200.96665573120117, "sample_ms_from_mean": 200.96665573120117, "output_transfer_ms": 0.0563599169254303, "total_ms": 308.89590829610825, "control_frequency_hz": 3.237336504442778, "prefill_share": 0.30303396938110905, "sample_share": 0.650596690774402, "other_share": 0.014208388625502109, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.752510115504265, "prefix_embed_ms": 38.48793411254883, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 93.54227066040039, "step_ms": [20.83091163635254, 19.67068862915039, 19.683839797973633, 19.768192291259766, 19.774368286132812, 19.765792846679688, 20.001920700073242, 19.702239990234375, 19.860960006713867, 19.70217514038086], "step_mean_ms": 19.876108932495118, "step_p50_ms": 19.766992568969727, "step_p95_ms": 20.457865715026855, "sample_ms": 198.76108932495117, "sample_ms_from_mean": 198.76108932495117, "output_transfer_ms": 0.061782076954841614, "total_ms": 306.441493332386, "control_frequency_hz": 3.263265653503836, "prefill_share": 0.3052532789968442, "sample_share": 0.6486102360471211, "other_share": 0.014109842330932102, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.748607873916626, "prefix_embed_ms": 38.057376861572266, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 93.1240005493164, "step_ms": [20.178848266601562, 19.88256072998047, 22.210176467895508, 19.758880615234375, 19.719615936279297, 19.683679580688477, 19.876224517822266, 19.71504020690918, 19.726943969726562, 19.751392364501953], "step_mean_ms": 20.050336265563963, "step_p50_ms": 19.755136489868164, "step_p95_ms": 21.29607877731323, "sample_ms": 200.50336265563965, "sample_ms_from_mean": 200.50336265563965, "output_transfer_ms": 0.058747828006744385, "total_ms": 307.73393996059895, "control_frequency_hz": 3.2495603186572013, "prefill_share": 0.30261205689967, "sample_share": 0.6515477710431008, "other_share": 0.013970578137302554, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.720360860228539, "prefix_embed_ms": 39.8120002746582, "prefill_forward_ms": 57.95532989501953, "prefill_ms": 97.76733016967773, "step_ms": [21.81488037109375, 20.967296600341797, 21.2653751373291, 21.18230438232422, 21.230464935302734, 21.11814308166504, 20.965280532836914, 20.943679809570312, 20.913408279418945, 20.750431060791016], "step_mean_ms": 21.115126419067384, "step_p50_ms": 21.042719841003418, "step_p95_ms": 21.567603015899657, "sample_ms": 211.15126419067383, "sample_ms_from_mean": 211.15126419067383, "output_transfer_ms": 0.06115250289440155, "total_ms": 324.10264387726784, "control_frequency_hz": 3.0854422785229825, "prefill_share": 0.3016554539638392, "sample_share": 0.6514950376974808, "other_share": 0.016669213460162896, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.174078866839409, "prefix_embed_ms": 39.41164779663086, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 94.46803283691406, "step_ms": [20.72879981994629, 19.960735321044922, 20.122848510742188, 19.93756866455078, 19.91254425048828, 20.160512924194336, 20.12393569946289, 20.15113639831543, 20.145376205444336, 20.158432006835938], "step_mean_ms": 20.14018898010254, "step_p50_ms": 20.134655952453613, "step_p95_ms": 20.473070716857908, "sample_ms": 201.4018898010254, "sample_ms_from_mean": 201.4018898010254, "output_transfer_ms": 0.06538629531860352, "total_ms": 310.5188235640526, "control_frequency_hz": 3.2204166836723958, "prefill_share": 0.30422642902170977, "sample_share": 0.6485980060383715, "other_share": 0.014200220499822792, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.934011846780777, "prefix_embed_ms": 38.8902702331543, "prefill_forward_ms": 55.07891082763672, "prefill_ms": 93.96918106079102, "step_ms": [21.653600692749023, 20.371551513671875, 20.10246467590332, 20.20956802368164, 20.426528930664062, 20.25993537902832, 20.220544815063477, 20.601919174194336, 20.114656448364258, 19.999263763427734], "step_mean_ms": 20.396003341674806, "step_p50_ms": 20.2402400970459, "step_p95_ms": 21.180344009399413, "sample_ms": 203.96003341674805, "sample_ms_from_mean": 203.96003341674805, "output_transfer_ms": 0.06250664591789246, "total_ms": 312.39386461675167, "control_frequency_hz": 3.2010871955722027, "prefill_share": 0.30080354227210404, "sample_share": 0.6528938513788308, "other_share": 0.014302879001786714, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.752037167549133, "prefix_embed_ms": 38.73721694946289, "prefill_forward_ms": 55.07276916503906, "prefill_ms": 93.80998611450195, "step_ms": [21.213247299194336, 20.709856033325195, 20.407968521118164, 21.011520385742188, 20.7238712310791, 20.808448791503906, 20.695199966430664, 20.624160766601562, 20.032703399658203, 20.479711532592773], "step_mean_ms": 20.67066879272461, "step_p50_ms": 20.70252799987793, "step_p95_ms": 21.12247018814087, "sample_ms": 206.7066879272461, "sample_ms_from_mean": 206.7066879272461, "output_transfer_ms": 0.06343796849250793, "total_ms": 315.76065346598625, "control_frequency_hz": 3.1669556957884875, "prefill_share": 0.2970920698471609, "sample_share": 0.6546309226887654, "other_share": 0.014024876879327849, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.132864117622375, "prefix_embed_ms": 39.03676986694336, "prefill_forward_ms": 55.034881591796875, "prefill_ms": 94.07165145874023, "step_ms": [20.905824661254883, 19.956480026245117, 20.026399612426758, 20.125568389892578, 20.146080017089844, 20.07164764404297, 19.93948745727539, 20.147071838378906, 19.913440704345703, 20.012096405029297], "step_mean_ms": 20.124409675598145, "step_p50_ms": 20.049023628234863, "step_p95_ms": 20.564385890960693, "sample_ms": 201.24409675598145, "sample_ms_from_mean": 201.24409675598145, "output_transfer_ms": 0.0682435929775238, "total_ms": 309.89645421504974, "control_frequency_hz": 3.2268842911834654, "prefill_share": 0.303558334337895, "sample_share": 0.6493914145152819, "other_share": 0.014132456922817786, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.032081976532936, "prefix_embed_ms": 38.802303314208984, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 93.8730239868164, "step_ms": [20.909120559692383, 20.19321632385254, 19.93231964111328, 20.0284481048584, 20.15331268310547, 20.322559356689453, 19.872896194458008, 19.893024444580078, 19.977760314941406, 19.951040267944336], "step_mean_ms": 20.123369789123537, "step_p50_ms": 20.003104209899902, "step_p95_ms": 20.645168018341064, "sample_ms": 201.23369789123535, "sample_ms_from_mean": 201.23369789123535, "output_transfer_ms": 0.06366334855556488, "total_ms": 309.59413200616837, "control_frequency_hz": 3.2300353805803916, "prefill_share": 0.30321318875948877, "sample_share": 0.649991963953716, "other_share": 0.0141852326934304, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.995467960834503, "prefix_embed_ms": 38.742305755615234, "prefill_forward_ms": 55.09734344482422, "prefill_ms": 93.83964920043945, "step_ms": [20.440288543701172, 19.978656768798828, 20.260576248168945, 20.002464294433594, 20.058496475219727, 20.61417579650879, 20.113759994506836, 20.135295867919922, 20.32268714904785, 20.109312057495117], "step_mean_ms": 20.203571319580078, "step_p50_ms": 20.12452793121338, "step_p95_ms": 20.53592653274536, "sample_ms": 202.03571319580078, "sample_ms_from_mean": 202.03571319580078, "output_transfer_ms": 0.0671185553073883, "total_ms": 310.3956487029791, "control_frequency_hz": 3.2216946473915, "prefill_share": 0.3023226955421518, "sample_share": 0.6508973757848355, "other_share": 0.014361347555044441, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.83748771250248, "prefix_embed_ms": 38.74137496948242, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 93.82745361328125, "step_ms": [20.85558319091797, 20.361696243286133, 20.509920120239258, 20.27552032470703, 20.211456298828125, 20.505695343017578, 20.271392822265625, 20.41654396057129, 20.05414390563965, 19.94393539428711], "step_mean_ms": 20.340588760375976, "step_p50_ms": 20.318608283996582, "step_p95_ms": 20.700034809112548, "sample_ms": 203.40588760375977, "sample_ms_from_mean": 203.40588760375977, "output_transfer_ms": 0.08958578109741211, "total_ms": 311.6649463772774, "control_frequency_hz": 3.2085738599216023, "prefill_share": 0.3010523150065809, "sample_share": 0.652642813919575, "other_share": 0.014453122556758857, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.807612746953964, "prefix_embed_ms": 39.7209587097168, "prefill_forward_ms": 55.35334396362305, "prefill_ms": 95.07430267333984, "step_ms": [20.97283172607422, 20.21295928955078, 20.28144073486328, 20.205663681030273, 20.05254364013672, 20.111391067504883, 19.841472625732422, 20.030431747436523, 19.868671417236328, 19.802207946777344], "step_mean_ms": 20.137961387634277, "step_p50_ms": 20.0819673538208, "step_p95_ms": 20.661705780029298, "sample_ms": 201.37961387634277, "sample_ms_from_mean": 201.37961387634277, "output_transfer_ms": 0.06031617522239685, "total_ms": 310.7328601181507, "control_frequency_hz": 3.218198421691763, "prefill_share": 0.3059679708067872, "sample_share": 0.648079555537743, "other_share": 0.014195520372755305, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.921563789248466, "prefix_embed_ms": 38.70828628540039, "prefill_forward_ms": 55.12908935546875, "prefill_ms": 93.83737564086914, "step_ms": [20.436031341552734, 20.12495994567871, 19.986751556396484, 20.061119079589844, 19.88649559020996, 20.14246368408203, 20.270496368408203, 20.057472229003906, 20.02908706665039, 20.05174446105957], "step_mean_ms": 20.104662132263183, "step_p50_ms": 20.059295654296875, "step_p95_ms": 20.361540603637696, "sample_ms": 201.04662132263184, "sample_ms_from_mean": 201.04662132263184, "output_transfer_ms": 0.06520189344882965, "total_ms": 309.1956861317158, "control_frequency_hz": 3.2341977745899246, "prefill_share": 0.30348863147105776, "sample_share": 0.6502245352704792, "other_share": 0.013987657912132405, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.248705744743347, "prefix_embed_ms": 39.124671936035156, "prefill_forward_ms": 55.09120178222656, "prefill_ms": 94.21587371826172, "step_ms": [20.92076873779297, 20.54297637939453, 20.01817512512207, 19.91481590270996, 19.958112716674805, 19.939327239990234, 20.319679260253906, 20.09382438659668, 19.837472915649414, 20.079519271850586], "step_mean_ms": 20.162467193603515, "step_p50_ms": 20.048847198486328, "step_p95_ms": 20.75076217651367, "sample_ms": 201.62467193603516, "sample_ms_from_mean": 201.62467193603516, "output_transfer_ms": 0.0621844083070755, "total_ms": 310.5345256626606, "control_frequency_hz": 3.220253844129134, "prefill_share": 0.3033990295192173, "sample_share": 0.6492826248732927, "other_share": 0.014114661955736067, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.891713038086891, "prefix_embed_ms": 40.597984313964844, "prefill_forward_ms": 55.03590393066406, "prefill_ms": 95.6338882446289, "step_ms": [20.5447998046875, 20.06243133544922, 20.176416397094727, 20.067455291748047, 20.363136291503906, 20.43891143798828, 20.15670394897461, 20.41596794128418, 20.41379165649414, 20.26924705505371], "step_mean_ms": 20.29088611602783, "step_p50_ms": 20.31619167327881, "step_p95_ms": 20.497150039672853, "sample_ms": 202.90886116027832, "sample_ms_from_mean": 202.90886116027832, "output_transfer_ms": 0.06151944398880005, "total_ms": 312.88945116102695, "control_frequency_hz": 3.196016983919842, "prefill_share": 0.3056475310681261, "sample_share": 0.6485001664560827, "other_share": 0.014041602418174719, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.806618094444275, "prefix_embed_ms": 40.77040100097656, "prefill_forward_ms": 55.18540954589844, "prefill_ms": 95.955810546875, "step_ms": [20.719871520996094, 20.286752700805664, 20.143552780151367, 19.968896865844727, 20.064672470092773, 20.730335235595703, 21.869632720947266, 20.135007858276367, 20.00876808166504, 20.49875259399414], "step_mean_ms": 20.442624282836913, "step_p50_ms": 20.215152740478516, "step_p95_ms": 21.356948852539062, "sample_ms": 204.42624282836914, "sample_ms_from_mean": 204.42624282836914, "output_transfer_ms": 0.07545202970504761, "total_ms": 315.4258020222187, "control_frequency_hz": 3.170317689893865, "prefill_share": 0.3042104036248621, "sample_share": 0.6480961339173176, "other_share": 0.016364160730458096, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.315058752894402, "prefix_embed_ms": 40.033119201660156, "prefill_forward_ms": 55.175167083740234, "prefill_ms": 95.20828628540039, "step_ms": [20.60323143005371, 20.334304809570312, 21.823423385620117, 19.922016143798828, 20.208927154541016, 20.30512046813965, 20.154272079467773, 20.10825538635254, 20.18992042541504, 20.083391189575195], "step_mean_ms": 20.373286247253418, "step_p50_ms": 20.199423789978027, "step_p95_ms": 21.274337005615234, "sample_ms": 203.73286247253418, "sample_ms_from_mean": 203.73286247253418, "output_transfer_ms": 0.06454065442085266, "total_ms": 313.71055357158184, "control_frequency_hz": 3.187651765664371, "prefill_share": 0.30349086188353547, "sample_share": 0.64942941878443, "other_share": 0.013993170954417251, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.963572025299072, "prefix_embed_ms": 38.998016357421875, "prefill_forward_ms": 55.119873046875, "prefill_ms": 94.11788940429688, "step_ms": [20.9202880859375, 19.9334716796875, 20.339231491088867, 20.071136474609375, 20.04547119140625, 20.37936019897461, 19.979583740234375, 20.56777572631836, 22.40483283996582, 20.318592071533203], "step_mean_ms": 20.495974349975587, "step_p50_ms": 20.328911781311035, "step_p95_ms": 21.736787700653075, "sample_ms": 204.95974349975586, "sample_ms_from_mean": 204.95974349975586, "output_transfer_ms": 0.06453879177570343, "total_ms": 313.61690908670425, "control_frequency_hz": 3.1886035829896358, "prefill_share": 0.3001046393779633, "sample_share": 0.6535353724919583, "other_share": 0.014384318048136755, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.3670135140419, "prefix_embed_ms": 39.260929107666016, "prefill_forward_ms": 55.09017562866211, "prefill_ms": 94.35110473632812, "step_ms": [20.9998722076416, 20.710079193115234, 20.741695404052734, 20.56537628173828, 20.952287673950195, 21.02275276184082, 26.209440231323242, 23.4069766998291, 24.488384246826172, 23.715232849121094], "step_mean_ms": 22.28120975494385, "step_p50_ms": 21.01131248474121, "step_p95_ms": 25.43496503829956, "sample_ms": 222.81209754943848, "sample_ms_from_mean": 222.81209754943848, "output_transfer_ms": 0.07407739758491516, "total_ms": 332.60637894272804, "control_frequency_hz": 3.006556889193612, "prefill_share": 0.28367196394803534, "sample_share": 0.6698972468829433, "other_share": 0.015039055357972978, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.3505350202322, "prefix_embed_ms": 42.33299255371094, "prefill_forward_ms": 55.24787139892578, "prefill_ms": 97.58086395263672, "step_ms": [22.395008087158203, 21.51068878173828, 21.43168067932129, 21.399232864379883, 20.93404769897461, 20.711135864257812, 21.516576766967773, 22.384288787841797, 20.626432418823242, 20.683712005615234], "step_mean_ms": 21.359280395507813, "step_p50_ms": 21.415456771850586, "step_p95_ms": 22.39018440246582, "sample_ms": 213.59280395507812, "sample_ms_from_mean": 213.59280395507812, "output_transfer_ms": 0.06849505007266998, "total_ms": 328.548401594162, "control_frequency_hz": 3.0436915691808655, "prefill_share": 0.2970060529260254, "sample_share": 0.6501106166357726, "other_share": 0.015083633315811364, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.473281145095825, "prefix_embed_ms": 42.22355270385742, "prefill_forward_ms": 55.173118591308594, "prefill_ms": 97.39667129516602, "step_ms": [20.74505615234375, 20.60246467590332, 20.493600845336914, 20.469663619995117, 20.675424575805664, 22.491296768188477, 20.36534309387207, 20.225055694580078, 20.792640686035156, 20.2890567779541], "step_mean_ms": 20.714960289001464, "step_p50_ms": 20.548032760620117, "step_p95_ms": 21.726901531219482, "sample_ms": 207.14960289001465, "sample_ms_from_mean": 207.14960289001465, "output_transfer_ms": 0.06809085607528687, "total_ms": 320.87884843349457, "control_frequency_hz": 3.1164410022097804, "prefill_share": 0.3035309799030037, "sample_share": 0.6455695160379152, "other_share": 0.018047940135085212, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.838840156793594, "prefix_embed_ms": 40.12268829345703, "prefill_forward_ms": 55.0984001159668, "prefill_ms": 95.22108840942383, "step_ms": [21.055679321289062, 20.305055618286133, 20.436063766479492, 20.30348777770996, 20.053632736206055, 20.160480499267578, 20.16022491455078, 20.47907257080078, 20.1810245513916, 19.94700813293457], "step_mean_ms": 20.308172988891602, "step_p50_ms": 20.24225616455078, "step_p95_ms": 20.796206283569337, "sample_ms": 203.08172988891602, "sample_ms_from_mean": 203.08172988891602, "output_transfer_ms": 0.06039068102836609, "total_ms": 313.8549067080021, "control_frequency_hz": 3.1861856502067036, "prefill_share": 0.30339206548717007, "sample_share": 0.6470560935912181, "other_share": 0.014824868027853128, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.63004694879055, "prefix_embed_ms": 41.71615982055664, "prefill_forward_ms": 55.135231018066406, "prefill_ms": 96.85139083862305, "step_ms": [20.691936492919922, 20.189376831054688, 20.171167373657227, 20.16227149963379, 20.133087158203125, 22.26144027709961, 20.666751861572266, 20.70150375366211, 20.421663284301758, 20.32592010498047], "step_mean_ms": 20.572511863708495, "step_p50_ms": 20.373791694641113, "step_p95_ms": 21.559468841552732, "sample_ms": 205.72511863708496, "sample_ms_from_mean": 205.72511863708496, "output_transfer_ms": 0.07019191980361938, "total_ms": 318.16435419023037, "control_frequency_hz": 3.14302965379365, "prefill_share": 0.30440679341695087, "sample_share": 0.6466001484065748, "other_share": 0.015361890109807506, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.820860043168068, "prefix_embed_ms": 39.257408142089844, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 94.33324813842773, "step_ms": [21.63382339477539, 20.227487564086914, 20.180992126464844, 19.84182357788086, 20.22960090637207, 20.280960083007812, 19.936704635620117, 20.204927444458008, 20.315584182739258, 19.971040725708008], "step_mean_ms": 20.282294464111327, "step_p50_ms": 20.21620750427246, "step_p95_ms": 21.04061574935913, "sample_ms": 202.82294464111328, "sample_ms_from_mean": 202.82294464111328, "output_transfer_ms": 0.06400607526302338, "total_ms": 312.4317545443773, "control_frequency_hz": 3.200698986113979, "prefill_share": 0.30193233167350403, "sample_share": 0.649175193273463, "other_share": 0.014053295103784249, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.961875319480896, "prefix_embed_ms": 39.21052932739258, "prefill_forward_ms": 55.07788848876953, "prefill_ms": 94.28841781616211, "step_ms": [20.70636749267578, 20.3984317779541, 20.19817543029785, 19.87491226196289, 19.951648712158203, 20.588191986083984, 20.055776596069336, 19.908607482910156, 20.011648178100586, 20.224895477294922], "step_mean_ms": 20.191865539550783, "step_p50_ms": 20.126976013183594, "step_p95_ms": 20.653188514709473, "sample_ms": 201.9186553955078, "sample_ms_from_mean": 201.9186553955078, "output_transfer_ms": 0.0647716224193573, "total_ms": 311.6671107709408, "control_frequency_hz": 3.2085515777599913, "prefill_share": 0.30252925174854023, "sample_share": 0.6478664203484326, "other_share": 0.014224762460190797, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.20288297533989, "prefix_embed_ms": 41.383201599121094, "prefill_forward_ms": 55.12089538574219, "prefill_ms": 96.50409698486328, "step_ms": [21.476703643798828, 20.187360763549805, 20.15260887145996, 20.257888793945312, 21.064735412597656, 20.288896560668945, 20.37446403503418, 20.230144500732422, 20.426464080810547, 19.917823791503906], "step_mean_ms": 20.437709045410156, "step_p50_ms": 20.27339267730713, "step_p95_ms": 21.2913179397583, "sample_ms": 204.37709045410156, "sample_ms_from_mean": 204.37709045410156, "output_transfer_ms": 0.060247257351875305, "total_ms": 316.6936617344618, "control_frequency_hz": 3.1576255568969054, "prefill_share": 0.30472380298466184, "sample_share": 0.6453463240621016, "other_share": 0.014365125079830822, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.871561244130135, "prefix_embed_ms": 39.446590423583984, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 94.4999008178711, "step_ms": [21.805503845214844, 20.24617576599121, 20.451648712158203, 20.439552307128906, 20.385631561279297, 20.404159545898438, 19.890975952148438, 20.047935485839844, 20.928991317749023, 20.329599380493164], "step_mean_ms": 20.493017387390136, "step_p50_ms": 20.394895553588867, "step_p95_ms": 21.411073207855225, "sample_ms": 204.93017387390137, "sample_ms_from_mean": 204.93017387390137, "output_transfer_ms": 0.06639398634433746, "total_ms": 314.87436778843403, "control_frequency_hz": 3.175869814439472, "prefill_share": 0.30011938247500075, "sample_share": 0.6508315532739558, "other_share": 0.014311542402889177, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.97976416349411, "prefix_embed_ms": 39.46207809448242, "prefill_forward_ms": 55.11884689331055, "prefill_ms": 94.58092498779297, "step_ms": [20.667232513427734, 22.012928009033203, 20.33020782470703, 20.65692710876465, 20.520000457763672, 20.68191909790039, 20.169279098510742, 20.03171157836914, 19.997472763061523, 20.44905662536621], "step_mean_ms": 20.55167350769043, "step_p50_ms": 20.48452854156494, "step_p95_ms": 21.413973999023437, "sample_ms": 205.5167350769043, "sample_ms_from_mean": 205.5167350769043, "output_transfer_ms": 0.07390417158603668, "total_ms": 315.8643953502178, "control_frequency_hz": 3.1659155470537916, "prefill_share": 0.2994352208735822, "sample_share": 0.6506486267597067, "other_share": 0.014921171932704686, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.700146064162254, "prefix_embed_ms": 38.92729568481445, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 93.97036743164062, "step_ms": [20.71468734741211, 20.183391571044922, 20.40025520324707, 21.038143157958984, 20.8002872467041, 20.696672439575195, 21.115455627441406, 23.296480178833008, 21.186784744262695, 21.555007934570312], "step_mean_ms": 21.09871654510498, "step_p50_ms": 20.919215202331543, "step_p95_ms": 22.512817668914792, "sample_ms": 210.9871654510498, "sample_ms_from_mean": 210.9871654510498, "output_transfer_ms": 0.06965547800064087, "total_ms": 322.65101931989193, "control_frequency_hz": 3.0993238518442467, "prefill_share": 0.2912446011474516, "sample_share": 0.6539175543154471, "other_share": 0.015260094034158385, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.438291519880295, "prefix_embed_ms": 40.766624450683594, "prefill_forward_ms": 55.151615142822266, "prefill_ms": 95.91823959350586, "step_ms": [21.56675148010254, 20.535072326660156, 20.99488067626953, 20.997024536132812, 20.93824005126953, 20.36182403564453, 20.891071319580078, 21.94745635986328, 20.98111915588379, 20.988479614257812], "step_mean_ms": 21.020191955566407, "step_p50_ms": 20.9847993850708, "step_p95_ms": 21.776139163970946, "sample_ms": 210.20191955566406, "sample_ms_from_mean": 210.20191955566406, "output_transfer_ms": 0.06327033042907715, "total_ms": 322.4483747035265, "control_frequency_hz": 3.101271640520579, "prefill_share": 0.2974685162599979, "sample_share": 0.651893251900969, "other_share": 0.0149687642509752, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.02750189602375, "prefix_embed_ms": 41.17158508300781, "prefill_forward_ms": 55.248863220214844, "prefill_ms": 96.42044830322266, "step_ms": [21.764223098754883, 20.94156837463379, 20.908447265625, 21.34659194946289, 21.361919403076172, 21.664031982421875, 21.668224334716797, 21.807903289794922, 21.661760330200195, 21.60246467590332], "step_mean_ms": 21.472713470458984, "step_p50_ms": 21.632112503051758, "step_p95_ms": 21.788247203826906, "sample_ms": 214.72713470458984, "sample_ms_from_mean": 214.72713470458984, "output_transfer_ms": 0.06948970258235931, "total_ms": 327.0200975239277, "control_frequency_hz": 3.0579160350437826, "prefill_share": 0.29484563497253463, "sample_share": 0.6566175483721716, "other_share": 0.014603148105170079, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.071955785155296, "prefix_embed_ms": 41.520416259765625, "prefill_forward_ms": 55.23152160644531, "prefill_ms": 96.75193786621094, "step_ms": [21.295391082763672, 20.725727081298828, 20.56787109375, 20.521440505981445, 20.679040908813477, 20.42083168029785, 20.855072021484375, 21.291296005249023, 20.885536193847656, 20.583648681640625], "step_mean_ms": 20.782585525512694, "step_p50_ms": 20.702383995056152, "step_p95_ms": 21.29354829788208, "sample_ms": 207.82585525512695, "sample_ms_from_mean": 207.82585525512695, "output_transfer_ms": 0.06501935422420502, "total_ms": 320.26365771889687, "control_frequency_hz": 3.1224273372838454, "prefill_share": 0.30210089572864507, "sample_share": 0.6489211318430039, "other_share": 0.014203576798501889, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.977789759635925, "prefix_embed_ms": 40.90457534790039, "prefill_forward_ms": 55.1383056640625, "prefill_ms": 96.04288101196289, "step_ms": [21.146080017089844, 20.470176696777344, 20.840576171875, 20.28803253173828, 20.650815963745117, 20.970720291137695, 21.12678337097168, 20.555007934570312, 20.70969581604004, 21.00364875793457], "step_mean_ms": 20.776153755187988, "step_p50_ms": 20.77513599395752, "step_p95_ms": 21.13739652633667, "sample_ms": 207.76153755187988, "sample_ms_from_mean": 207.76153755187988, "output_transfer_ms": 0.0854339450597763, "total_ms": 319.76706348359585, "control_frequency_hz": 3.127276427740346, "prefill_share": 0.3003526378409824, "sample_share": 0.6497277589770847, "other_share": 0.015321844475419887, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 12.252412736415863, "prefix_embed_ms": 40.27632141113281, "prefill_forward_ms": 55.21510314941406, "prefill_ms": 95.49142456054688, "step_ms": [22.161439895629883, 20.946367263793945, 21.211040496826172, 21.802623748779297, 20.689727783203125, 20.947040557861328, 21.03468894958496, 21.375743865966797, 20.782175064086914, 20.364736557006836], "step_mean_ms": 21.131558418273926, "step_p50_ms": 20.990864753723145, "step_p95_ms": 21.99997262954712, "sample_ms": 211.31558418273926, "sample_ms_from_mean": 211.31558418273926, "output_transfer_ms": 0.0664200633764267, "total_ms": 323.97291995584965, "control_frequency_hz": 3.086677738794582, "prefill_share": 0.2947512544368222, "sample_share": 0.6522631095572337, "other_share": 0.014961369034892714, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.95091737806797, "prefix_embed_ms": 40.82908630371094, "prefill_forward_ms": 55.05535888671875, "prefill_ms": 95.88444519042969, "step_ms": [21.67286491394043, 21.337984085083008, 20.771968841552734, 20.26483154296875, 20.789663314819336, 20.546367645263672, 20.688640594482422, 21.08687973022461, 21.05913543701172, 21.09846305847168], "step_mean_ms": 20.931679916381835, "step_p50_ms": 20.924399375915527, "step_p95_ms": 21.52216854095459, "sample_ms": 209.31679916381836, "sample_ms_from_mean": 209.31679916381836, "output_transfer_ms": 0.06658211350440979, "total_ms": 320.80161198973656, "control_frequency_hz": 3.1171913189513307, "prefill_share": 0.29889016017007214, "sample_share": 0.6524805092641338, "other_share": 0.01428567679411396, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.052640154957771, "prefix_embed_ms": 41.750144958496094, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 96.84441757202148, "step_ms": [21.607391357421875, 21.051488876342773, 20.84604835510254, 20.896608352661133, 21.557952880859375, 21.00432014465332, 22.004032135009766, 23.24233627319336, 21.30019187927246, 21.67228889465332], "step_mean_ms": 21.51826591491699, "step_p50_ms": 21.429072380065918, "step_p95_ms": 22.68509941101074, "sample_ms": 215.18265914916992, "sample_ms_from_mean": 215.18265914916992, "output_transfer_ms": 0.06810016930103302, "total_ms": 327.8247993439436, "control_frequency_hz": 3.050409859172463, "prefill_share": 0.2954151661675093, "sample_share": 0.6563953049915756, "other_share": 0.01426671291449931, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.494997888803482, "prefix_embed_ms": 41.75699234008789, "prefill_forward_ms": 55.29600143432617, "prefill_ms": 97.05299377441406, "step_ms": [22.04911994934082, 21.503904342651367, 20.55891227722168, 20.6843204498291, 20.715999603271484, 20.889087677001953, 21.02720069885254, 20.742399215698242, 20.662080764770508, 20.860960006713867], "step_mean_ms": 20.969398498535156, "step_p50_ms": 20.801679611206055, "step_p95_ms": 21.803772926330566, "sample_ms": 209.69398498535156, "sample_ms_from_mean": 209.69398498535156, "output_transfer_ms": 0.06963126361370087, "total_ms": 323.2152611017227, "control_frequency_hz": 3.0939133152047504, "prefill_share": 0.30027354971914344, "sample_share": 0.6487750122645243, "other_share": 0.01517147789626377, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.739648714661598, "prefix_embed_ms": 39.489601135253906, "prefill_forward_ms": 55.13625717163086, "prefill_ms": 94.62585830688477, "step_ms": [21.032032012939453, 20.22559928894043, 20.413984298706055, 20.24742317199707, 20.262752532958984, 20.26483154296875, 19.935007095336914, 20.157440185546875, 20.18003273010254, 20.34764862060547], "step_mean_ms": 20.306675148010253, "step_p50_ms": 20.255087852478027, "step_p95_ms": 20.753910541534424, "sample_ms": 203.06675148010254, "sample_ms_from_mean": 203.06675148010254, "output_transfer_ms": 0.06606802344322205, "total_ms": 313.05066123604774, "control_frequency_hz": 3.1943711476334364, "prefill_share": 0.30227011159556244, "sample_share": 0.648670571971689, "other_share": 0.014541846655046832, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.78793779015541, "prefix_embed_ms": 40.084320068359375, "prefill_forward_ms": 55.149566650390625, "prefill_ms": 95.23388671875, "step_ms": [20.788127899169922, 20.19910430908203, 20.29654312133789, 20.84262466430664, 20.783584594726562, 20.382720947265625, 20.38742446899414, 20.37868881225586, 20.470592498779297, 20.48374366760254], "step_mean_ms": 20.50131549835205, "step_p50_ms": 20.42900848388672, "step_p95_ms": 20.818101119995116, "sample_ms": 205.0131549835205, "sample_ms_from_mean": 205.0131549835205, "output_transfer_ms": 0.05984306335449219, "total_ms": 315.6624995172024, "control_frequency_hz": 3.16794044756496, "prefill_share": 0.30169528171514753, "sample_share": 0.6494694659551984, "other_share": 0.01447012859749926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.647369548678398, "prefix_embed_ms": 40.34358215332031, "prefill_forward_ms": 55.0748176574707, "prefill_ms": 95.41839981079102, "step_ms": [21.09859275817871, 20.56083106994629, 20.689599990844727, 20.23084831237793, 20.38630485534668, 20.150943756103516, 21.10905647277832, 20.270463943481445, 20.666624069213867, 20.650592803955078], "step_mean_ms": 20.581385803222656, "step_p50_ms": 20.605711936950684, "step_p95_ms": 21.104347801208498, "sample_ms": 205.81385803222656, "sample_ms_from_mean": 205.81385803222656, "output_transfer_ms": 0.07753074169158936, "total_ms": 317.22733192145824, "control_frequency_hz": 3.152313496894991, "prefill_share": 0.30078870957567894, "sample_share": 0.6487898025230173, "other_share": 0.0166132399631174, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.020651087164879, "prefix_embed_ms": 40.66636657714844, "prefill_forward_ms": 55.22739028930664, "prefill_ms": 95.89375686645508, "step_ms": [21.40425682067871, 20.934431076049805, 20.888671875, 20.592639923095703, 21.063295364379883, 21.325855255126953, 20.6167049407959, 20.236799240112305, 19.853120803833008, 20.01795196533203], "step_mean_ms": 20.69337272644043, "step_p50_ms": 20.75268840789795, "step_p95_ms": 21.36897611618042, "sample_ms": 206.9337272644043, "sample_ms_from_mean": 206.9337272644043, "output_transfer_ms": 0.06878003478050232, "total_ms": 318.5580763965845, "control_frequency_hz": 3.1391450228217215, "prefill_share": 0.30102440958700877, "sample_share": 0.6495949799960024, "other_share": 0.014569277904609785, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.604778304696083, "prefix_embed_ms": 39.27654266357422, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.3718376159668, "step_ms": [20.550783157348633, 20.168224334716797, 20.20038414001465, 20.19798469543457, 19.89583969116211, 20.76697540283203, 19.888416290283203, 19.649503707885742, 19.60438346862793, 19.349184036254883], "step_mean_ms": 20.027167892456056, "step_p50_ms": 20.032032012939453, "step_p95_ms": 20.6696888923645, "sample_ms": 200.27167892456055, "sample_ms_from_mean": 200.27167892456055, "output_transfer_ms": 0.05826540291309357, "total_ms": 309.52430702745914, "control_frequency_hz": 3.2307640378992466, "prefill_share": 0.3048931391601329, "sample_share": 0.6470305380791747, "other_share": 0.013626544615600903, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.50548069179058, "prefix_embed_ms": 37.55356979370117, "prefill_forward_ms": 54.894561767578125, "prefill_ms": 92.4481315612793, "step_ms": [19.721567153930664, 19.47158432006836, 19.451263427734375, 19.451040267944336, 19.27846336364746, 19.490367889404297, 19.4520320892334, 19.21219253540039, 19.09984016418457, 19.325632095336914], "step_mean_ms": 19.395398330688476, "step_p50_ms": 19.451151847839355, "step_p95_ms": 19.6175274848938, "sample_ms": 193.95398330688477, "sample_ms_from_mean": 193.95398330688477, "output_transfer_ms": 0.05402229726314545, "total_ms": 300.26135966181755, "control_frequency_hz": 3.330431864846991, "prefill_share": 0.30789220319725136, "sample_share": 0.6459505263192503, "other_share": 0.01098956525180676, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.541705414652824, "prefix_embed_ms": 37.5780143737793, "prefill_forward_ms": 54.933502197265625, "prefill_ms": 92.51151657104492, "step_ms": [20.790815353393555, 19.646751403808594, 19.191808700561523, 19.351423263549805, 19.478944778442383, 19.56844711303711, 19.26348876953125, 19.312223434448242, 19.341983795166016, 19.64543914794922], "step_mean_ms": 19.55913257598877, "step_p50_ms": 19.415184020996094, "step_p95_ms": 20.27598657608032, "sample_ms": 195.5913257598877, "sample_ms_from_mean": 195.5913257598877, "output_transfer_ms": 0.06114877760410309, "total_ms": 302.18727700412273, "control_frequency_hz": 3.3092061648457722, "prefill_share": 0.30613968095613364, "sample_share": 0.647252020994978, "other_share": 0.011521267590910819, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.942239314317703, "prefix_embed_ms": 39.935264587402344, "prefill_forward_ms": 55.10655975341797, "prefill_ms": 95.04182434082031, "step_ms": [20.2642879486084, 19.711807250976562, 19.678495407104492, 19.893983840942383, 19.53673553466797, 19.578847885131836, 19.43328094482422, 19.554208755493164, 19.390239715576172, 19.38662338256836], "step_mean_ms": 19.642851066589355, "step_p50_ms": 19.5665283203125, "step_p95_ms": 20.09765110015869, "sample_ms": 196.42851066589355, "sample_ms_from_mean": 196.42851066589355, "output_transfer_ms": 0.05883164703845978, "total_ms": 306.9221582263708, "control_frequency_hz": 3.2581551158728943, "prefill_share": 0.3096610061979367, "sample_share": 0.6399945569293745, "other_share": 0.014501241239865528, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.410366579890251, "prefix_embed_ms": 38.23855972290039, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 93.33795166015625, "step_ms": [20.28019142150879, 20.4869441986084, 20.429407119750977, 20.076383590698242, 20.257280349731445, 21.12460708618164, 20.98588752746582, 20.77872085571289, 21.30953598022461, 20.455488204956055], "step_mean_ms": 20.618444633483886, "step_p50_ms": 20.471216201782227, "step_p95_ms": 21.226317977905275, "sample_ms": 206.18444633483887, "sample_ms_from_mean": 206.18444633483887, "output_transfer_ms": 0.0642184168100357, "total_ms": 314.3324386328459, "control_frequency_hz": 3.181345216387431, "prefill_share": 0.29694024602143937, "sample_share": 0.6559439020408306, "other_share": 0.013792581064833966, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.646715924143791, "prefix_embed_ms": 41.69657516479492, "prefill_forward_ms": 55.14547348022461, "prefill_ms": 96.84204864501953, "step_ms": [21.450592041015625, 20.7890567779541, 20.62518310546875, 20.824928283691406, 20.623647689819336, 20.316768646240234, 20.052127838134766, 20.083648681640625, 20.200096130371094, 20.248863220214844], "step_mean_ms": 20.521491241455077, "step_p50_ms": 20.470208168029785, "step_p95_ms": 21.169043350219727, "sample_ms": 205.21491241455078, "sample_ms_from_mean": 205.21491241455078, "output_transfer_ms": 0.060344114899635315, "total_ms": 318.67770105600357, "control_frequency_hz": 3.137966656236994, "prefill_share": 0.3038871195697523, "sample_share": 0.6439575525194555, "other_share": 0.015418963865709307, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.617706924676895, "prefix_embed_ms": 38.67958450317383, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 93.76566314697266, "step_ms": [20.472543716430664, 19.94223976135254, 19.978496551513672, 19.9005126953125, 19.892160415649414, 19.962303161621094, 19.99087905883789, 20.19055938720703, 19.99616050720215, 20.154111862182617], "step_mean_ms": 20.047996711730956, "step_p50_ms": 19.98468780517578, "step_p95_ms": 20.34565076828003, "sample_ms": 200.47996711730957, "sample_ms_from_mean": 200.47996711730957, "output_transfer_ms": 0.06570108234882355, "total_ms": 309.29572880268097, "control_frequency_hz": 3.2331516632030906, "prefill_share": 0.3031586097549754, "sample_share": 0.6481821391242303, "other_share": 0.01411817275420188, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.552361607551575, "prefix_embed_ms": 38.83769607543945, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.9114875793457, "step_ms": [20.75449562072754, 19.94371223449707, 19.851423263549805, 19.84864044189453, 19.82748794555664, 20.15577507019043, 20.03536033630371, 19.848127365112305, 20.00339126586914, 19.9467830657959], "step_mean_ms": 20.021519660949707, "step_p50_ms": 19.945247650146484, "step_p95_ms": 20.48507137298584, "sample_ms": 200.21519660949707, "sample_ms_from_mean": 200.21519660949707, "output_transfer_ms": 0.0658724457025528, "total_ms": 309.02380868792534, "control_frequency_hz": 3.2359966186614204, "prefill_share": 0.3038972562602267, "sample_share": 0.647895699232964, "other_share": 0.013846475014323482, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.876938700675964, "prefix_embed_ms": 39.506561279296875, "prefill_forward_ms": 55.1383056640625, "prefill_ms": 94.64486694335938, "step_ms": [21.73561668395996, 20.35215950012207, 20.698944091796875, 20.526399612426758, 20.144512176513672, 20.308351516723633, 20.338815689086914, 20.178783416748047, 19.906335830688477, 20.180383682250977], "step_mean_ms": 20.437030220031737, "step_p50_ms": 20.323583602905273, "step_p95_ms": 21.269114017486572, "sample_ms": 204.37030220031738, "sample_ms_from_mean": 204.37030220031738, "output_transfer_ms": 0.061495229601860046, "total_ms": 314.52635303139687, "control_frequency_hz": 3.179383827021252, "prefill_share": 0.30091235927029514, "sample_share": 0.6497716335391349, "other_share": 0.014538527259704117, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 688, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.515624657273293, "prefix_embed_ms": 38.384769439697266, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.43603515625, "step_ms": [20.463232040405273, 20.200960159301758, 19.974239349365234, 20.023935317993164, 20.005535125732422, 20.005184173583984, 19.93814468383789, 20.176448822021484, 21.160127639770508, 20.218591690063477], "step_mean_ms": 20.216639900207518, "step_p50_ms": 20.100192070007324, "step_p95_ms": 20.84652462005615, "sample_ms": 202.1663990020752, "sample_ms_from_mean": 202.1663990020752, "output_transfer_ms": 0.06105378270149231, "total_ms": 310.4706443846226, "control_frequency_hz": 3.2209164315102297, "prefill_share": 0.3009496609299331, "sample_share": 0.6511610764450373, "other_share": 0.01382266524691489, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.396467357873917, "prefix_embed_ms": 38.831295013427734, "prefill_forward_ms": 55.07788848876953, "prefill_ms": 93.90918350219727, "step_ms": [20.613727569580078, 20.13382339477539, 19.83990478515625, 20.22719955444336, 20.042911529541016, 19.93494415283203, 20.106943130493164, 20.181888580322266, 20.080991744995117, 20.03615951538086], "step_mean_ms": 20.119849395751952, "step_p50_ms": 20.09396743774414, "step_p95_ms": 20.439789962768554, "sample_ms": 201.19849395751953, "sample_ms_from_mean": 201.19849395751953, "output_transfer_ms": 0.06423331797122955, "total_ms": 308.94651636481285, "control_frequency_hz": 3.236806201171634, "prefill_share": 0.303965827506877, "sample_share": 0.6512405329080928, "other_share": 0.014171184970025936, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.17496345937252, "prefix_embed_ms": 38.388031005859375, "prefill_forward_ms": 55.08812713623047, "prefill_ms": 93.47615814208984, "step_ms": [20.845951080322266, 20.07593536376953, 20.0316162109375, 20.07686424255371, 20.308704376220703, 20.249727249145508, 20.020191192626953, 20.302143096923828, 20.45907211303711, 20.214624404907227], "step_mean_ms": 20.258482933044434, "step_p50_ms": 20.232175827026367, "step_p95_ms": 20.671855545043943, "sample_ms": 202.58482933044434, "sample_ms_from_mean": 202.58482933044434, "output_transfer_ms": 0.07011368870735168, "total_ms": 309.6932265907526, "control_frequency_hz": 3.2290018448529407, "prefill_share": 0.3018346870905734, "sample_share": 0.6541467876472229, "other_share": 0.01416615409524604, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.44361463189125, "prefix_embed_ms": 38.75369644165039, "prefill_forward_ms": 55.0563850402832, "prefill_ms": 93.8100814819336, "step_ms": [20.52195167541504, 20.1246395111084, 20.22604751586914, 20.746816635131836, 20.577728271484375, 20.60361671447754, 20.721120834350586, 20.264799118041992, 20.20627212524414, 20.394304275512695], "step_mean_ms": 20.438729667663573, "step_p50_ms": 20.458127975463867, "step_p95_ms": 20.735253524780273, "sample_ms": 204.38729667663574, "sample_ms_from_mean": 204.38729667663574, "output_transfer_ms": 0.08063949644565582, "total_ms": 312.24729120731354, "control_frequency_hz": 3.2025898323520114, "prefill_share": 0.30043521312615423, "sample_share": 0.6545686781985077, "other_share": 0.014493829243189585, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.768802672624588, "prefix_embed_ms": 40.25369644165039, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 95.32339096069336, "step_ms": [20.687103271484375, 20.5196475982666, 20.234432220458984, 20.041120529174805, 20.124767303466797, 20.02956771850586, 19.80975914001465, 19.859743118286133, 20.009536743164062, 19.869312286376953], "step_mean_ms": 20.11849899291992, "step_p50_ms": 20.035344123840332, "step_p95_ms": 20.611748218536377, "sample_ms": 201.18498992919922, "sample_ms_from_mean": 201.18498992919922, "output_transfer_ms": 0.05950219929218292, "total_ms": 310.7954952865839, "control_frequency_hz": 3.2175498524452615, "prefill_share": 0.3067077625201609, "sample_share": 0.6473227346608964, "other_share": 0.014346441928519884, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.274868294596672, "prefix_embed_ms": 38.749088287353516, "prefill_forward_ms": 55.0195198059082, "prefill_ms": 93.76860809326172, "step_ms": [20.431167602539062, 20.13654327392578, 20.169248580932617, 20.03379249572754, 20.19228744506836, 20.15830421447754, 20.04764747619629, 19.97372817993164, 20.116928100585938, 19.976512908935547], "step_mean_ms": 20.123616027832032, "step_p50_ms": 20.12673568725586, "step_p95_ms": 20.323671531677245, "sample_ms": 201.2361602783203, "sample_ms_from_mean": 201.2361602783203, "output_transfer_ms": 0.0693146139383316, "total_ms": 308.70165675878525, "control_frequency_hz": 3.2393736091328615, "prefill_share": 0.30375155442243407, "sample_share": 0.6518791068088214, "other_share": 0.014100039255925829, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.412666782736778, "prefix_embed_ms": 39.15139389038086, "prefill_forward_ms": 55.058433532714844, "prefill_ms": 94.2098274230957, "step_ms": [20.356895446777344, 19.920480728149414, 20.22172737121582, 20.122047424316406, 19.965919494628906, 19.9388484954834, 20.47158432006836, 20.602752685546875, 20.317663192749023, 20.30624008178711], "step_mean_ms": 20.222415924072266, "step_p50_ms": 20.263983726501465, "step_p95_ms": 20.543726921081543, "sample_ms": 202.22415924072266, "sample_ms_from_mean": 202.22415924072266, "output_transfer_ms": 0.0658128410577774, "total_ms": 310.27575954794884, "control_frequency_hz": 3.222939495682594, "prefill_share": 0.3036325736833363, "sample_share": 0.6517562297981312, "other_share": 0.014062630179982319, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.992867708206177, "prefix_embed_ms": 40.18588638305664, "prefill_forward_ms": 55.11065673828125, "prefill_ms": 95.29654312133789, "step_ms": [20.561023712158203, 20.018016815185547, 20.131296157836914, 20.2675838470459, 20.178848266601562, 20.018144607543945, 19.98691177368164, 19.838815689086914, 20.035327911376953, 20.162431716918945], "step_mean_ms": 20.11984004974365, "step_p50_ms": 20.083312034606934, "step_p95_ms": 20.428975772857665, "sample_ms": 201.19840049743652, "sample_ms_from_mean": 201.19840049743652, "output_transfer_ms": 0.05925819277763367, "total_ms": 310.9504971653223, "control_frequency_hz": 3.215945975697644, "prefill_share": 0.3064685343489636, "sample_share": 0.6470431863965339, "other_share": 0.014161185416027554, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.190650656819344, "prefix_embed_ms": 38.54127883911133, "prefill_forward_ms": 55.03385543823242, "prefill_ms": 93.57513427734375, "step_ms": [20.37001609802246, 20.187936782836914, 20.001728057861328, 19.904064178466797, 20.11884880065918, 19.858367919921875, 19.97091293334961, 19.907615661621094, 19.96156883239746, 20.202463150024414], "step_mean_ms": 20.048352241516113, "step_p50_ms": 19.98632049560547, "step_p95_ms": 20.29461727142334, "sample_ms": 200.48352241516113, "sample_ms_from_mean": 200.48352241516113, "output_transfer_ms": 0.07288344204425812, "total_ms": 308.2456849515438, "control_frequency_hz": 3.2441654460051885, "prefill_share": 0.3035732172278543, "sample_share": 0.6504017159126725, "other_share": 0.01597262962804912, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.264329448342323, "prefix_embed_ms": 39.11110305786133, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 94.15827178955078, "step_ms": [20.575679779052734, 20.24095916748047, 20.40230369567871, 20.007423400878906, 20.051679611206055, 19.946624755859375, 19.846431732177734, 20.15100860595703, 20.015199661254883, 20.047840118408203], "step_mean_ms": 20.12851505279541, "step_p50_ms": 20.04975986480713, "step_p95_ms": 20.497660541534422, "sample_ms": 201.2851505279541, "sample_ms_from_mean": 201.2851505279541, "output_transfer_ms": 0.0611376017332077, "total_ms": 309.1039452701807, "control_frequency_hz": 3.235157672044344, "prefill_share": 0.3046168553664017, "sample_share": 0.6511891989991113, "other_share": 0.01402458936203844, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.316511452198029, "prefix_embed_ms": 39.407264709472656, "prefill_forward_ms": 55.06969451904297, "prefill_ms": 94.47695922851562, "step_ms": [21.118783950805664, 20.49523162841797, 20.272319793701172, 20.485023498535156, 20.59017562866211, 20.586912155151367, 20.622272491455078, 20.619871139526367, 20.318912506103516, 20.586944580078125], "step_mean_ms": 20.569644737243653, "step_p50_ms": 20.586928367614746, "step_p95_ms": 20.8953537940979, "sample_ms": 205.69644737243652, "sample_ms_from_mean": 205.69644737243652, "output_transfer_ms": 0.06906501948833466, "total_ms": 314.26197849214077, "control_frequency_hz": 3.182058500357238, "prefill_share": 0.30063121120100234, "sample_share": 0.6545381288547468, "other_share": 0.014965206551768315, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.616373106837273, "prefix_embed_ms": 39.826560974121094, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 94.98329544067383, "step_ms": [21.708127975463867, 20.473119735717773, 21.279327392578125, 20.898496627807617, 20.972768783569336, 20.964319229125977, 20.659744262695312, 20.64873504638672, 20.481311798095703, 20.594528198242188], "step_mean_ms": 20.86804790496826, "step_p50_ms": 20.779120445251465, "step_p95_ms": 21.515167713165283, "sample_ms": 208.68047904968262, "sample_ms_from_mean": 208.68047904968262, "output_transfer_ms": 0.06607919931411743, "total_ms": 318.04727017879486, "control_frequency_hz": 3.1441867098492486, "prefill_share": 0.29864521518225134, "sample_share": 0.6561303888329866, "other_share": 0.014780958125011625, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.72997210919857, "prefix_embed_ms": 39.597408294677734, "prefill_forward_ms": 55.15776062011719, "prefill_ms": 94.75516891479492, "step_ms": [21.090272903442383, 21.443296432495117, 22.39606475830078, 21.19548797607422, 21.155071258544922, 21.601280212402344, 21.78860855102539, 20.776832580566406, 21.196256637573242, 20.769664764404297], "step_mean_ms": 21.34128360748291, "step_p50_ms": 21.19587230682373, "step_p95_ms": 22.122709465026855, "sample_ms": 213.4128360748291, "sample_ms_from_mean": 213.4128360748291, "output_transfer_ms": 0.06373971700668335, "total_ms": 322.6640336215496, "control_frequency_hz": 3.0991988439991207, "prefill_share": 0.29366510996367384, "sample_share": 0.6614088148576842, "other_share": 0.014573414808406083, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.141685605049133, "prefix_embed_ms": 40.938655853271484, "prefill_forward_ms": 55.195648193359375, "prefill_ms": 96.13430404663086, "step_ms": [21.75107192993164, 21.02947235107422, 23.572959899902344, 20.644319534301758, 20.293407440185547, 20.46784019470215, 20.76291275024414, 20.63680076599121, 20.71126365661621, 20.539039611816406], "step_mean_ms": 21.040908813476562, "step_p50_ms": 20.677791595458984, "step_p95_ms": 22.753110313415526, "sample_ms": 210.40908813476562, "sample_ms_from_mean": 210.40908813476562, "output_transfer_ms": 0.06745196878910065, "total_ms": 322.3628755658865, "control_frequency_hz": 3.1020941795626027, "prefill_share": 0.29821766503935515, "sample_share": 0.6527088076299311, "other_share": 0.017403821084556317, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.670861065387726, "prefix_embed_ms": 40.084510803222656, "prefill_forward_ms": 55.15059280395508, "prefill_ms": 95.23510360717773, "step_ms": [20.956256866455078, 21.688159942626953, 20.611616134643555, 20.625408172607422, 21.24505615234375, 20.8919677734375, 20.9652156829834, 20.377023696899414, 20.914688110351562, 21.304927825927734], "step_mean_ms": 20.958032035827635, "step_p50_ms": 20.93547248840332, "step_p95_ms": 21.515705490112303, "sample_ms": 209.58032035827637, "sample_ms_from_mean": 209.58032035827637, "output_transfer_ms": 0.09423866868019104, "total_ms": 320.28779201209545, "control_frequency_hz": 3.122192056456013, "prefill_share": 0.2973422839780957, "sample_share": 0.6543500114121169, "other_share": 0.017819187789579884, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.539712384343147, "prefix_embed_ms": 40.1275520324707, "prefill_forward_ms": 55.248897552490234, "prefill_ms": 95.37644958496094, "step_ms": [20.956512451171875, 20.450815200805664, 20.902015686035156, 20.68623924255371, 20.942367553710938, 21.11440086364746, 23.053632736206055, 20.843616485595703, 20.59836769104004, 20.44588851928711], "step_mean_ms": 20.999385643005372, "step_p50_ms": 20.87281608581543, "step_p95_ms": 22.180978393554685, "sample_ms": 209.9938564300537, "sample_ms_from_mean": 209.9938564300537, "output_transfer_ms": 0.07324479520320892, "total_ms": 320.9439404308796, "control_frequency_hz": 3.1158089436350207, "prefill_share": 0.29717479462897595, "sample_share": 0.6543007359731698, "other_share": 0.015456522499408116, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.350260883569717, "prefix_embed_ms": 40.550113677978516, "prefill_forward_ms": 55.31340789794922, "prefill_ms": 95.86352157592773, "step_ms": [21.350048065185547, 21.003328323364258, 21.539552688598633, 20.308256149291992, 20.533824920654297, 20.363296508789062, 20.186656951904297, 20.515296936035156, 20.144256591796875, 20.437856674194336], "step_mean_ms": 20.638237380981444, "step_p50_ms": 20.476576805114746, "step_p95_ms": 21.454275608062744, "sample_ms": 206.38237380981445, "sample_ms_from_mean": 206.38237380981445, "output_transfer_ms": 0.06712973117828369, "total_ms": 317.59849190711975, "control_frequency_hz": 3.1486295605347063, "prefill_share": 0.3018387178109227, "sample_share": 0.6498216429509056, "other_share": 0.015539135204939327, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.494587779045105, "prefix_embed_ms": 39.279998779296875, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 94.35379028320312, "step_ms": [29.624576568603516, 29.172256469726562, 29.110048294067383, 28.29190444946289, 26.894943237304688, 29.39516830444336, 23.02716827392578, 20.256671905517578, 20.468896865844727, 20.65657615661621], "step_mean_ms": 25.68982105255127, "step_p50_ms": 27.59342384338379, "step_p95_ms": 29.521342849731447, "sample_ms": 256.8982105255127, "sample_ms_from_mean": 256.8982105255127, "output_transfer_ms": 0.06491877138614655, "total_ms": 366.0388272255659, "control_frequency_hz": 2.731950617314608, "prefill_share": 0.25776989561016983, "sample_share": 0.7018332248321926, "other_share": 0.014280779735963861, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.316699579358101, "prefix_embed_ms": 38.885440826416016, "prefill_forward_ms": 55.12499237060547, "prefill_ms": 94.01043319702148, "step_ms": [21.38422393798828, 20.126079559326172, 20.194719314575195, 20.194751739501953, 20.04470443725586, 20.93836784362793, 20.678112030029297, 20.202880859375, 20.329919815063477, 20.974367141723633], "step_mean_ms": 20.50681266784668, "step_p50_ms": 20.26640033721924, "step_p95_ms": 21.19978837966919, "sample_ms": 205.0681266784668, "sample_ms_from_mean": 205.0681266784668, "output_transfer_ms": 0.06896443665027618, "total_ms": 313.06672655045986, "control_frequency_hz": 3.1942072254645075, "prefill_share": 0.3002888049869744, "sample_share": 0.6550300919488296, "other_share": 0.014701347248479872, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.460533037781715, "prefix_embed_ms": 41.18854522705078, "prefill_forward_ms": 55.2724494934082, "prefill_ms": 96.46099472045898, "step_ms": [20.856096267700195, 21.003616333007812, 20.650943756103516, 21.511648178100586, 20.56787109375, 20.322208404541016, 20.598207473754883, 20.688608169555664, 20.077152252197266, 20.03171157836914], "step_mean_ms": 20.630806350708006, "step_p50_ms": 20.6245756149292, "step_p95_ms": 21.283033847808838, "sample_ms": 206.30806350708008, "sample_ms_from_mean": 206.30806350708008, "output_transfer_ms": 0.07314234972000122, "total_ms": 317.0118536800146, "control_frequency_hz": 3.1544561769269985, "prefill_share": 0.30428198062847445, "sample_share": 0.6507897452797563, "other_share": 0.014854712876847571, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.780045598745346, "prefix_embed_ms": 39.3502082824707, "prefill_forward_ms": 55.156734466552734, "prefill_ms": 94.50694274902344, "step_ms": [20.617216110229492, 20.079519271850586, 20.154239654541016, 20.04742431640625, 19.93155288696289, 20.286272048950195, 20.158079147338867, 20.105567932128906, 20.003936767578125, 20.046016693115234], "step_mean_ms": 20.142982482910156, "step_p50_ms": 20.092543601989746, "step_p95_ms": 20.46829128265381, "sample_ms": 201.42982482910156, "sample_ms_from_mean": 201.42982482910156, "output_transfer_ms": 0.07536821067333221, "total_ms": 310.21655537188053, "control_frequency_hz": 3.22355458689567, "prefill_share": 0.30464828879210093, "sample_share": 0.6493200357654416, "other_share": 0.014262211051350933, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.555172175168991, "prefix_embed_ms": 40.867488861083984, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 95.94128036499023, "step_ms": [20.834848403930664, 20.55356788635254, 20.360511779785156, 20.390047073364258, 20.26313591003418, 20.32147216796875, 21.747455596923828, 20.661088943481445, 20.127296447753906, 20.093856811523438], "step_mean_ms": 20.535328102111816, "step_p50_ms": 20.375279426574707, "step_p95_ms": 21.336782360076903, "sample_ms": 205.35328102111816, "sample_ms_from_mean": 205.35328102111816, "output_transfer_ms": 0.060113146901130676, "total_ms": 315.41248969733715, "control_frequency_hz": 3.1704514965769994, "prefill_share": 0.3041771759166968, "sample_share": 0.6510626171404013, "other_share": 0.014275411203529913, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.29640419781208, "prefix_embed_ms": 39.02268981933594, "prefill_forward_ms": 55.03180694580078, "prefill_ms": 94.05449676513672, "step_ms": [20.794240951538086, 20.09347152709961, 20.992576599121094, 20.66873550415039, 21.000736236572266, 20.72208023071289, 20.83718490600586, 20.900768280029297, 20.266368865966797, 20.242591857910156], "step_mean_ms": 20.651875495910645, "step_p50_ms": 20.75816059112549, "step_p95_ms": 20.99706439971924, "sample_ms": 206.51875495910645, "sample_ms_from_mean": 206.51875495910645, "output_transfer_ms": 0.0682249665260315, "total_ms": 314.9530850350857, "control_frequency_hz": 3.1750760589901836, "prefill_share": 0.2986301809193553, "sample_share": 0.6557127546031192, "other_share": 0.015923654616514425, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.448796510696411, "prefix_embed_ms": 39.69241714477539, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 94.8163833618164, "step_ms": [22.30303955078125, 20.286176681518555, 20.16873550415039, 20.213247299194336, 20.163135528564453, 20.331039428710938, 20.226335525512695, 20.150815963745117, 19.93222427368164, 21.6200008392334], "step_mean_ms": 20.53947505950928, "step_p50_ms": 20.219791412353516, "step_p95_ms": 21.995672130584715, "sample_ms": 205.39475059509277, "sample_ms_from_mean": 205.39475059509277, "output_transfer_ms": 0.06584078073501587, "total_ms": 314.08244743943214, "control_frequency_hz": 3.1838773804538714, "prefill_share": 0.30188373828213005, "sample_share": 0.6539517004836802, "other_share": 0.013871122778778274, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.552344679832458, "prefix_embed_ms": 39.995582580566406, "prefill_forward_ms": 55.221248626708984, "prefill_ms": 95.21683120727539, "step_ms": [20.59836769104004, 20.13817596435547, 22.15001678466797, 20.437280654907227, 20.013471603393555, 20.19980812072754, 20.202207565307617, 20.244415283203125, 20.014816284179688, 20.01958465576172], "step_mean_ms": 20.401814460754395, "step_p50_ms": 20.201007843017578, "step_p95_ms": 21.4517746925354, "sample_ms": 204.01814460754395, "sample_ms_from_mean": 204.01814460754395, "output_transfer_ms": 0.06958842277526855, "total_ms": 313.52092139422894, "control_frequency_hz": 3.189579807156076, "prefill_share": 0.30370168212011406, "sample_share": 0.6507321543336705, "other_share": 0.014876240016331248, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.636087343096733, "prefix_embed_ms": 40.687679290771484, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 95.71539306640625, "step_ms": [20.609119415283203, 20.195680618286133, 20.114912033081055, 20.14896011352539, 20.78268814086914, 22.860736846923828, 20.607807159423828, 20.961536407470703, 20.611040115356445, 21.17635154724121], "step_mean_ms": 20.806883239746092, "step_p50_ms": 20.610079765319824, "step_p95_ms": 22.102763462066648, "sample_ms": 208.06883239746094, "sample_ms_from_mean": 208.06883239746094, "output_transfer_ms": 0.0749882310628891, "total_ms": 318.1357514113188, "control_frequency_hz": 3.1433122356220085, "prefill_share": 0.30086336616300474, "sample_share": 0.6540253067265239, "other_share": 0.014586384437165364, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.980270639061928, "prefix_embed_ms": 40.86742401123047, "prefill_forward_ms": 55.11577606201172, "prefill_ms": 95.98320007324219, "step_ms": [21.16227149963379, 21.899456024169922, 20.856000900268555, 20.752992630004883, 21.006080627441406, 20.24617576599121, 20.372447967529297, 20.45804786682129, 20.0798397064209, 20.214624404907227], "step_mean_ms": 20.70479373931885, "step_p50_ms": 20.605520248413086, "step_p95_ms": 21.56772298812866, "sample_ms": 207.04793739318848, "sample_ms_from_mean": 207.04793739318848, "output_transfer_ms": 0.06339140236377716, "total_ms": 317.70481541752815, "control_frequency_hz": 3.14757583603446, "prefill_share": 0.30211440121579813, "sample_share": 0.6516990846395758, "other_share": 0.014573326197738014, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.172216057777405, "prefix_embed_ms": 40.69126510620117, "prefill_forward_ms": 55.17824172973633, "prefill_ms": 95.8695068359375, "step_ms": [21.622848510742188, 20.67705535888672, 20.69584083557129, 20.757375717163086, 20.60483169555664, 20.67411231994629, 21.533920288085938, 20.495807647705078, 20.07916831970215, 20.871200561523438], "step_mean_ms": 20.80121612548828, "step_p50_ms": 20.686448097229004, "step_p95_ms": 21.582830810546874, "sample_ms": 208.0121612548828, "sample_ms_from_mean": 208.0121612548828, "output_transfer_ms": 0.07246807217597961, "total_ms": 317.7880737930536, "control_frequency_hz": 3.14675119196326, "prefill_share": 0.30167748490891627, "sample_share": 0.6545625163716564, "other_share": 0.014669277914172713, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.696094319224358, "prefix_embed_ms": 40.23932647705078, "prefill_forward_ms": 55.10758590698242, "prefill_ms": 95.3469123840332, "step_ms": [21.459232330322266, 21.842880249023438, 20.914432525634766, 20.628128051757812, 20.45814323425293, 20.167552947998047, 20.465152740478516, 20.45827293395996, 20.75472068786621, 20.650527954101562], "step_mean_ms": 20.77990436553955, "step_p50_ms": 20.639328002929688, "step_p95_ms": 21.67023868560791, "sample_ms": 207.7990436553955, "sample_ms_from_mean": 207.7990436553955, "output_transfer_ms": 0.09164400398731232, "total_ms": 317.57344119250774, "control_frequency_hz": 3.148877929605633, "prefill_share": 0.30023578806212414, "sample_share": 0.6543338223596323, "other_share": 0.01460999639152704, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.726334363222122, "prefix_embed_ms": 41.79395294189453, "prefill_forward_ms": 55.11782455444336, "prefill_ms": 96.91177749633789, "step_ms": [21.18217658996582, 20.731327056884766, 21.08118438720703, 21.319135665893555, 21.716096878051758, 20.47977638244629, 20.2640323638916, 20.303199768066406, 20.409311294555664, 21.01705551147461], "step_mean_ms": 20.85032958984375, "step_p50_ms": 20.874191284179688, "step_p95_ms": 21.537464332580566, "sample_ms": 208.5032958984375, "sample_ms_from_mean": 208.5032958984375, "output_transfer_ms": 0.07651932537555695, "total_ms": 320.20495645701885, "control_frequency_hz": 3.1229997532353315, "prefill_share": 0.3026554572066606, "sample_share": 0.6511557416395737, "other_share": 0.015574491503273129, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 8, "actual_token_count": 12, "language_token_count": 12, "image_token_count": 512, "prefix_token_count": 524, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 12, "language_raw_token_count": 12, "prompt_sha256": "9c75577d70bed24ec3f9a41d47fce5140c5389e20d90c9bf25715230d5ddc8bf", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.581929072737694, "prefix_embed_ms": 39.664161682128906, "prefill_forward_ms": 55.3175048828125, "prefill_ms": 94.9816665649414, "step_ms": [20.52956771850586, 20.36355209350586, 20.155424118041992, 20.259103775024414, 20.319263458251953, 20.218624114990234, 21.16249656677246, 20.701215744018555, 20.621856689453125, 20.572959899902344], "step_mean_ms": 20.49040641784668, "step_p50_ms": 20.44655990600586, "step_p95_ms": 20.9549201965332, "sample_ms": 204.9040641784668, "sample_ms_from_mean": 204.9040641784668, "output_transfer_ms": 0.06185099482536316, "total_ms": 314.0066768974066, "control_frequency_hz": 3.184645657476652, "prefill_share": 0.30248295196593594, "sample_share": 0.6525468381852715, "other_share": 0.014258187534967973, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.711669757962227, "prefix_embed_ms": 40.84233474731445, "prefill_forward_ms": 55.07072067260742, "prefill_ms": 95.91305541992188, "step_ms": [21.210464477539062, 20.683103561401367, 20.641088485717773, 20.76134490966797, 20.46121597290039, 20.891071319580078, 22.205503463745117, 20.934816360473633, 20.142175674438477, 20.487295150756836], "step_mean_ms": 20.84180793762207, "step_p50_ms": 20.722224235534668, "step_p95_ms": 21.757735919952392, "sample_ms": 208.4180793762207, "sample_ms_from_mean": 208.4180793762207, "output_transfer_ms": 0.06507895886898041, "total_ms": 318.5999467968941, "control_frequency_hz": 3.1387324764291162, "prefill_share": 0.30104542196005446, "sample_share": 0.6541685944131254, "other_share": 0.014099384915415434, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.43765603005886, "prefix_embed_ms": 39.812416076660156, "prefill_forward_ms": 55.144447326660156, "prefill_ms": 94.95686340332031, "step_ms": [21.502559661865234, 20.927295684814453, 19.94598388671875, 20.144672393798828, 20.29747200012207, 20.926912307739258, 20.326175689697266, 20.059711456298828, 20.109088897705078, 20.23833656311035], "step_mean_ms": 20.44782085418701, "step_p50_ms": 20.26790428161621, "step_p95_ms": 21.24369087219238, "sample_ms": 204.47820854187012, "sample_ms_from_mean": 204.47820854187012, "output_transfer_ms": 0.0612158328294754, "total_ms": 314.15132246911526, "control_frequency_hz": 3.183179342172948, "prefill_share": 0.30226472598298765, "sample_share": 0.650890809355013, "other_share": 0.016607851974105317, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.212663561105728, "prefix_embed_ms": 38.84515380859375, "prefill_forward_ms": 55.19667053222656, "prefill_ms": 94.04182434082031, "step_ms": [20.956192016601562, 20.95961570739746, 21.60745620727539, 20.962848663330078, 22.830623626708984, 21.058015823364258, 20.592512130737305, 20.251808166503906, 20.315872192382812, 20.24787139892578], "step_mean_ms": 20.978281593322755, "step_p50_ms": 20.95790386199951, "step_p95_ms": 22.280198287963866, "sample_ms": 209.78281593322754, "sample_ms_from_mean": 209.78281593322754, "output_transfer_ms": 0.06562843918800354, "total_ms": 318.9221266657114, "control_frequency_hz": 3.1355616822666637, "prefill_share": 0.2948739409335286, "sample_share": 0.6577869592382287, "other_share": 0.01511088127297362, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.705010801553726, "prefix_embed_ms": 38.99894332885742, "prefill_forward_ms": 55.040000915527344, "prefill_ms": 94.03894424438477, "step_ms": [20.091327667236328, 19.955488204956055, 19.87081527709961, 20.288415908813477, 20.347360610961914, 20.887136459350586, 20.78678321838379, 20.820127487182617, 22.217952728271484, 20.682336807250977], "step_mean_ms": 20.594774436950683, "step_p50_ms": 20.514848709106445, "step_p95_ms": 21.619085407257078, "sample_ms": 205.94774436950684, "sample_ms_from_mean": 205.94774436950684, "output_transfer_ms": 0.06759911775588989, "total_ms": 314.18538466095924, "control_frequency_hz": 3.182834239979401, "prefill_share": 0.29931037163254165, "sample_share": 0.6554975324257912, "other_share": 0.014087498476526088, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.6744354814291, "prefix_embed_ms": 39.96995162963867, "prefill_forward_ms": 55.09427261352539, "prefill_ms": 95.06422424316406, "step_ms": [21.403711318969727, 20.776512145996094, 21.3635196685791, 20.89628791809082, 20.87718391418457, 20.856191635131836, 20.877023696899414, 20.78937530517578, 20.68662452697754, 20.673728942871094], "step_mean_ms": 20.9200159072876, "step_p50_ms": 20.866607666015625, "step_p95_ms": 21.385625076293945, "sample_ms": 209.20015907287598, "sample_ms_from_mean": 209.20015907287598, "output_transfer_ms": 0.05914084613323212, "total_ms": 318.6198156327009, "control_frequency_hz": 3.1385367479867656, "prefill_share": 0.2983625612060248, "sample_share": 0.6565823869348982, "other_share": 0.014505864865688516, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.377868846058846, "prefix_embed_ms": 40.39497756958008, "prefill_forward_ms": 55.229408264160156, "prefill_ms": 95.62438583374023, "step_ms": [22.21455955505371, 21.391136169433594, 22.034656524658203, 22.67510414123535, 23.434560775756836, 23.230976104736328, 23.34966468811035, 21.78771209716797, 21.64499282836914, 21.632863998413086], "step_mean_ms": 22.339622688293456, "step_p50_ms": 22.124608039855957, "step_p95_ms": 23.396357536315918, "sample_ms": 223.39622688293457, "sample_ms_from_mean": 223.39622688293457, "output_transfer_ms": 0.07398054003715515, "total_ms": 333.29920284450054, "control_frequency_hz": 3.000307205854753, "prefill_share": 0.286902533872406, "sample_share": 0.6702573092776319, "other_share": 0.014481705028204443, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.930457919836044, "prefix_embed_ms": 41.95344161987305, "prefill_forward_ms": 55.19667053222656, "prefill_ms": 97.15011215209961, "step_ms": [22.103647232055664, 20.332063674926758, 20.221216201782227, 20.516576766967773, 20.09868812561035, 20.45395278930664, 20.336095809936523, 20.055328369140625, 21.00480079650879, 20.166336059570312], "step_mean_ms": 20.528870582580566, "step_p50_ms": 20.33407974243164, "step_p95_ms": 21.60916633605957, "sample_ms": 205.28870582580566, "sample_ms_from_mean": 205.28870582580566, "output_transfer_ms": 0.06334856152534485, "total_ms": 317.7227731794119, "control_frequency_hz": 3.1473979343473735, "prefill_share": 0.30577006230913395, "sample_share": 0.6461252486609863, "other_share": 0.016650203154175484, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.266993194818497, "prefix_embed_ms": 45.03583908081055, "prefill_forward_ms": 55.230464935302734, "prefill_ms": 100.26630401611328, "step_ms": [21.29702377319336, 20.495168685913086, 20.951168060302734, 20.928192138671875, 21.132640838623047, 22.058208465576172, 20.41551971435547, 20.377695083618164, 20.344512939453125, 21.054336547851562], "step_mean_ms": 20.90544662475586, "step_p50_ms": 20.939680099487305, "step_p95_ms": 21.715675354003906, "sample_ms": 209.0544662475586, "sample_ms_from_mean": 209.0544662475586, "output_transfer_ms": 0.08187815546989441, "total_ms": 324.37086291611195, "control_frequency_hz": 3.0828909570050307, "prefill_share": 0.30911008194359285, "sample_share": 0.6444921235161118, "other_share": 0.014493352639282829, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.737327694892883, "prefix_embed_ms": 40.206336975097656, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 95.33030319213867, "step_ms": [21.598560333251953, 20.880672454833984, 20.4201602935791, 20.635040283203125, 20.34752082824707, 20.45427131652832, 20.931583404541016, 20.636703491210938, 20.39776039123535, 22.335264205932617], "step_mean_ms": 20.863753700256346, "step_p50_ms": 20.63587188720703, "step_p95_ms": 22.00374746322632, "sample_ms": 208.63753700256348, "sample_ms_from_mean": 208.63753700256348, "output_transfer_ms": 0.07506273686885834, "total_ms": 318.66165436804295, "control_frequency_hz": 3.138124673278183, "prefill_share": 0.29915837655834027, "sample_share": 0.6547306026397343, "other_share": 0.015318516284175139, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.38316248357296, "prefix_embed_ms": 39.19196701049805, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 94.27804565429688, "step_ms": [21.132064819335938, 21.042335510253906, 20.546527862548828, 20.96726417541504, 23.485567092895508, 20.830591201782227, 20.738624572753906, 20.29052734375, 20.18057632446289, 20.240127563476562], "step_mean_ms": 20.94542064666748, "step_p50_ms": 20.784607887268066, "step_p95_ms": 22.4264910697937, "sample_ms": 209.4542064666748, "sample_ms_from_mean": 209.4542064666748, "output_transfer_ms": 0.06165727972984314, "total_ms": 317.7012875676155, "control_frequency_hz": 3.147610787655913, "prefill_share": 0.29675059354058153, "sample_share": 0.6592803197944145, "other_share": 0.014240470090566284, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.561385959386826, "prefix_embed_ms": 38.990623474121094, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 94.07158279418945, "step_ms": [21.061887741088867, 20.131296157836914, 20.092639923095703, 20.0666561126709, 20.792095184326172, 20.466943740844727, 22.887903213500977, 20.467456817626953, 20.251712799072266, 20.503007888793945], "step_mean_ms": 20.672159957885743, "step_p50_ms": 20.46720027923584, "step_p95_ms": 22.066196250915525, "sample_ms": 206.72159957885742, "sample_ms_from_mean": 206.72159957885742, "output_transfer_ms": 0.06739795207977295, "total_ms": 314.99175913631916, "control_frequency_hz": 3.1746862290680737, "prefill_share": 0.2986477584433504, "sample_share": 0.6562762154339231, "other_share": 0.014507658436321234, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.781844913959503, "prefix_embed_ms": 39.338111877441406, "prefill_forward_ms": 55.1383056640625, "prefill_ms": 94.4764175415039, "step_ms": [21.288095474243164, 21.780479431152344, 19.99385643005371, 20.736703872680664, 20.55606460571289, 20.393503189086914, 20.542240142822266, 20.702880859375, 21.108383178710938, 21.41814422607422], "step_mean_ms": 20.852035140991212, "step_p50_ms": 20.719792366027832, "step_p95_ms": 21.617428588867188, "sample_ms": 208.5203514099121, "sample_ms_from_mean": 208.5203514099121, "output_transfer_ms": 0.0696871429681778, "total_ms": 317.5745438784361, "control_frequency_hz": 3.148866996036019, "prefill_share": 0.29749367310016006, "sample_share": 0.6566028525565051, "other_share": 0.014882310188884484, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.857604280114174, "prefix_embed_ms": 39.30534362792969, "prefill_forward_ms": 55.08095932006836, "prefill_ms": 94.38630294799805, "step_ms": [21.62835121154785, 20.952287673950195, 20.266687393188477, 21.063583374023438, 20.894527435302734, 20.749311447143555, 20.652767181396484, 21.697120666503906, 20.635263442993164, 20.35932731628418], "step_mean_ms": 20.8899227142334, "step_p50_ms": 20.821919441223145, "step_p95_ms": 21.66617441177368, "sample_ms": 208.89922714233398, "sample_ms_from_mean": 208.89922714233398, "output_transfer_ms": 0.062327831983566284, "total_ms": 317.9555702954531, "control_frequency_hz": 3.1450935080985447, "prefill_share": 0.2968537486551712, "sample_share": 0.657007603132158, "other_share": 0.014939534126133941, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.498164057731628, "prefix_embed_ms": 39.964481353759766, "prefill_forward_ms": 55.25913619995117, "prefill_ms": 95.22361755371094, "step_ms": [21.39094352722168, 20.879520416259766, 21.342975616455078, 20.905855178833008, 20.616256713867188, 20.34681510925293, 20.34067153930664, 21.23356819152832, 20.247167587280273, 20.53763198852539], "step_mean_ms": 20.784140586853027, "step_p50_ms": 20.747888565063477, "step_p95_ms": 21.369357967376708, "sample_ms": 207.84140586853027, "sample_ms_from_mean": 207.84140586853027, "output_transfer_ms": 0.07469765841960907, "total_ms": 317.45272874832153, "control_frequency_hz": 3.150075300794803, "prefill_share": 0.29996156570827526, "sample_share": 0.6547160791089253, "other_share": 0.015167119932827298, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.344087913632393, "prefix_embed_ms": 39.58620834350586, "prefill_forward_ms": 55.147518157958984, "prefill_ms": 94.73372650146484, "step_ms": [20.78998374938965, 21.846752166748047, 20.86675262451172, 20.788480758666992, 20.798080444335938, 20.58505630493164, 20.699552536010742, 20.641952514648438, 20.708511352539062, 20.66489601135254], "step_mean_ms": 20.839001846313476, "step_p50_ms": 20.748496055603027, "step_p95_ms": 21.4057523727417, "sample_ms": 208.39001846313477, "sample_ms_from_mean": 208.39001846313477, "output_transfer_ms": 0.07431767880916595, "total_ms": 317.3549994826317, "control_frequency_hz": 3.151045364434942, "prefill_share": 0.2985102697480884, "sample_share": 0.6566464016727728, "other_share": 0.015165505296707684, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.402921587228775, "prefix_embed_ms": 40.79916763305664, "prefill_forward_ms": 55.14342498779297, "prefill_ms": 95.94259262084961, "step_ms": [20.89254379272461, 20.31760025024414, 21.14905548095703, 20.30793571472168, 20.532575607299805, 22.0546875, 20.204927444458008, 20.26131248474121, 20.36844825744629, 20.270336151123047], "step_mean_ms": 20.635942268371583, "step_p50_ms": 20.343024253845215, "step_p95_ms": 21.647153091430663, "sample_ms": 206.35942268371582, "sample_ms_from_mean": 206.35942268371582, "output_transfer_ms": 0.06444938480854034, "total_ms": 317.5798412412405, "control_frequency_hz": 3.148814471635114, "prefill_share": 0.3021054240907235, "sample_share": 0.6497875365047517, "other_share": 0.015147230207800346, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.407127276062965, "prefix_embed_ms": 38.91939163208008, "prefill_forward_ms": 55.193599700927734, "prefill_ms": 94.11299133300781, "step_ms": [20.811424255371094, 20.399904251098633, 20.21615982055664, 20.377792358398438, 20.580608367919922, 21.72502326965332, 20.61337661743164, 20.706783294677734, 20.46236801147461, 20.231264114379883], "step_mean_ms": 20.612470436096192, "step_p50_ms": 20.521488189697266, "step_p95_ms": 21.313903713226317, "sample_ms": 206.1247043609619, "sample_ms_from_mean": 206.1247043609619, "output_transfer_ms": 0.061256811022758484, "total_ms": 314.25478495657444, "control_frequency_hz": 3.1821313401423175, "prefill_share": 0.29947989923530643, "sample_share": 0.6559158817245867, "other_share": 0.014474577296086538, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.530901908874512, "prefix_embed_ms": 40.10281753540039, "prefill_forward_ms": 55.18540954589844, "prefill_ms": 95.28822708129883, "step_ms": [21.18934440612793, 21.032255172729492, 20.476032257080078, 20.121408462524414, 20.823808670043945, 20.214143753051758, 20.34979248046875, 21.73040008544922, 25.774879455566406, 25.418176651000977], "step_mean_ms": 21.713024139404297, "step_p50_ms": 20.92803192138672, "step_p95_ms": 25.614363193511963, "sample_ms": 217.13024139404297, "sample_ms_from_mean": 217.13024139404297, "output_transfer_ms": 0.07466413080692291, "total_ms": 327.1393831819296, "control_frequency_hz": 3.056801019410975, "prefill_share": 0.29127714967997875, "sample_share": 0.6637239432382617, "other_share": 0.015636603019641926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 15.145804733037949, "prefix_embed_ms": 46.55535888671875, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 101.65065383911133, "step_ms": [20.596864700317383, 20.296415328979492, 21.170751571655273, 19.940288543701172, 19.928735733032227, 19.946975708007812, 20.154207229614258, 19.940576553344727, 19.925376892089844, 19.995136260986328], "step_mean_ms": 20.189532852172853, "step_p50_ms": 19.97105598449707, "step_p95_ms": 20.912502479553222, "sample_ms": 201.89532852172852, "sample_ms_from_mean": 201.89532852172852, "output_transfer_ms": 0.06309337913990021, "total_ms": 323.36772605776787, "control_frequency_hz": 3.0924545630795435, "prefill_share": 0.31435002830477893, "sample_share": 0.6243521299514628, "other_share": 0.014265015377342004, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.554361924529076, "prefix_embed_ms": 38.961631774902344, "prefill_forward_ms": 55.046142578125, "prefill_ms": 94.00777435302734, "step_ms": [20.56768035888672, 19.957792282104492, 20.132863998413086, 20.113983154296875, 20.184864044189453, 20.431903839111328, 20.19286346435547, 21.290943145751953, 20.171039581298828, 20.145952224731445], "step_mean_ms": 20.318988609313966, "step_p50_ms": 20.17795181274414, "step_p95_ms": 20.9654748916626, "sample_ms": 203.18988609313965, "sample_ms_from_mean": 203.18988609313965, "output_transfer_ms": 0.06204098463058472, "total_ms": 311.5487787872553, "control_frequency_hz": 3.2097702449440884, "prefill_share": 0.3017433569117652, "sample_share": 0.6521928504553383, "other_share": 0.01519734871168213, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.426333010196686, "prefix_embed_ms": 38.7968635559082, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 93.84403228759766, "step_ms": [20.695039749145508, 20.220640182495117, 20.23993682861328, 21.756671905517578, 20.757471084594727, 20.68783950805664, 20.36262321472168, 20.703872680664062, 20.295040130615234, 20.679584503173828], "step_mean_ms": 20.639871978759764, "step_p50_ms": 20.683712005615234, "step_p95_ms": 21.307031536102294, "sample_ms": 206.39871978759766, "sample_ms_from_mean": 206.39871978759766, "output_transfer_ms": 0.0678282231092453, "total_ms": 314.5114928483963, "control_frequency_hz": 3.1795340480038647, "prefill_share": 0.2983802958603907, "sample_share": 0.6562517570290757, "other_share": 0.015180938211998962, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.043466463685036, "prefix_embed_ms": 41.46799850463867, "prefill_forward_ms": 55.19667053222656, "prefill_ms": 96.66466903686523, "step_ms": [21.351680755615234, 20.456960678100586, 20.918048858642578, 21.100160598754883, 22.739456176757812, 20.343807220458984, 20.031103134155273, 20.415327072143555, 20.254528045654297, 20.355775833129883], "step_mean_ms": 20.79668483734131, "step_p50_ms": 20.43614387512207, "step_p95_ms": 22.11495723724365, "sample_ms": 207.9668483734131, "sample_ms_from_mean": 207.9668483734131, "output_transfer_ms": 0.073188915848732, "total_ms": 319.5059932768345, "control_frequency_hz": 3.1298317435114735, "prefill_share": 0.30254414962761145, "sample_share": 0.6509012436371457, "other_share": 0.014891177590211926, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.424025192856789, "prefix_embed_ms": 38.766273498535156, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 93.86873626708984, "step_ms": [20.632896423339844, 20.307872772216797, 20.096256256103516, 20.227903366088867, 20.313152313232422, 20.140031814575195, 20.216096878051758, 19.959104537963867, 21.802303314208984, 20.414527893066406], "step_mean_ms": 20.411014556884766, "step_p50_ms": 20.267888069152832, "step_p95_ms": 21.27607021331787, "sample_ms": 204.11014556884766, "sample_ms_from_mean": 204.11014556884766, "output_transfer_ms": 0.07209926843643188, "total_ms": 312.2024852782488, "control_frequency_hz": 3.203049453974575, "prefill_share": 0.3006662044455855, "sample_share": 0.6537748903149685, "other_share": 0.015142348968826196, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.592534974217415, "prefix_embed_ms": 40.25395202636719, "prefill_forward_ms": 55.1464958190918, "prefill_ms": 95.40044784545898, "step_ms": [20.47804832458496, 20.027360916137695, 22.99135971069336, 20.364416122436523, 20.3384952545166, 20.910432815551758, 20.29523277282715, 20.10099220275879, 20.008224487304688, 20.37513542175293], "step_mean_ms": 20.588969802856447, "step_p50_ms": 20.351455688476562, "step_p95_ms": 22.054942607879635, "sample_ms": 205.88969802856445, "sample_ms_from_mean": 205.88969802856445, "output_transfer_ms": 0.06379187107086182, "total_ms": 315.46900421380997, "control_frequency_hz": 3.1698835278354234, "prefill_share": 0.30240830817344283, "sample_share": 0.6526463623317559, "other_share": 0.014335898088526932, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.32140089571476, "prefix_embed_ms": 42.509376525878906, "prefill_forward_ms": 55.602176666259766, "prefill_ms": 98.11155319213867, "step_ms": [21.34716796875, 20.62553596496582, 20.915712356567383, 20.89459228515625, 20.616416931152344, 22.961536407470703, 20.553056716918945, 20.472095489501953, 20.828832626342773, 20.96303939819336], "step_mean_ms": 21.017798614501952, "step_p50_ms": 20.86171245574951, "step_p95_ms": 22.235070610046385, "sample_ms": 210.17798614501953, "sample_ms_from_mean": 210.17798614501953, "output_transfer_ms": 0.0678282231092453, "total_ms": 322.58202508091927, "control_frequency_hz": 3.099986739029093, "prefill_share": 0.30414451384117736, "sample_share": 0.651548969885401, "other_share": 0.015200030515361425, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.55168716609478, "prefix_embed_ms": 40.28963088989258, "prefill_forward_ms": 55.323646545410156, "prefill_ms": 95.61327743530273, "step_ms": [21.037248611450195, 20.596256256103516, 20.463359832763672, 20.42038345336914, 20.486560821533203, 20.346111297607422, 20.961856842041016, 21.597055435180664, 20.714656829833984, 20.48297691345215], "step_mean_ms": 20.710646629333496, "step_p50_ms": 20.54140853881836, "step_p95_ms": 21.345142364501953, "sample_ms": 207.10646629333496, "sample_ms_from_mean": 207.10646629333496, "output_transfer_ms": 0.07584318518638611, "total_ms": 317.9635480046272, "control_frequency_hz": 3.1450145976652872, "prefill_share": 0.30070515326464814, "sample_share": 0.6513528597634123, "other_share": 0.017663263477694726, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.839415550231934, "prefix_embed_ms": 40.82444763183594, "prefill_forward_ms": 55.48134231567383, "prefill_ms": 96.30578994750977, "step_ms": [21.29680061340332, 20.743520736694336, 21.997440338134766, 20.68435287475586, 20.270463943481445, 20.746015548706055, 20.77552032470703, 20.683712005615234, 20.44063949584961, 20.89116859436035], "step_mean_ms": 20.8529634475708, "step_p50_ms": 20.744768142700195, "step_p95_ms": 21.682152462005615, "sample_ms": 208.529634475708, "sample_ms_from_mean": 208.529634475708, "output_transfer_ms": 0.06934627890586853, "total_ms": 319.6150828152895, "control_frequency_hz": 3.128763483849464, "prefill_share": 0.3013180388710453, "sample_share": 0.6524399056480714, "other_share": 0.015239883299715516, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.89508256316185, "prefix_embed_ms": 41.90886306762695, "prefill_forward_ms": 55.30828857421875, "prefill_ms": 97.2171516418457, "step_ms": [21.018047332763672, 20.23299217224121, 20.452959060668945, 20.448671340942383, 20.43961524963379, 22.703168869018555, 20.55392074584961, 20.807743072509766, 20.55196762084961, 20.262239456176758], "step_mean_ms": 20.74713249206543, "step_p50_ms": 20.502463340759277, "step_p95_ms": 21.944864177703856, "sample_ms": 207.4713249206543, "sample_ms_from_mean": 207.4713249206543, "output_transfer_ms": 0.07640570402145386, "total_ms": 319.55353543162346, "control_frequency_hz": 3.1293660971370327, "prefill_share": 0.30422805840822176, "sample_share": 0.6492537303347972, "other_share": 0.015313773935657983, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.356264352798462, "prefix_embed_ms": 40.80860900878906, "prefill_forward_ms": 55.51615905761719, "prefill_ms": 96.32476806640625, "step_ms": [22.2478084564209, 21.02947235107422, 23.531583786010742, 20.757247924804688, 21.213024139404297, 21.228031158447266, 20.56902313232422, 20.632543563842773, 20.577184677124023, 20.748319625854492], "step_mean_ms": 21.25342388153076, "step_p50_ms": 20.893360137939453, "step_p95_ms": 22.95388488769531, "sample_ms": 212.53423881530762, "sample_ms_from_mean": 212.53423881530762, "output_transfer_ms": 0.07368996739387512, "total_ms": 325.2891059964895, "control_frequency_hz": 3.074188411372104, "prefill_share": 0.29612048571785177, "sample_share": 0.6533702939858098, "other_share": 0.015371387182690592, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 16, "actual_token_count": 17, "language_token_count": 17, "image_token_count": 512, "prefix_token_count": 529, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 17, "language_raw_token_count": 17, "prompt_sha256": "a74e3377890228868fcc7bc09057d2d1f05c45dbff2961cc1f03a1f93d0bca5b", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.42521558701992, "prefix_embed_ms": 42.12736129760742, "prefill_forward_ms": 55.53868865966797, "prefill_ms": 97.66604995727539, "step_ms": [21.393632888793945, 20.41244888305664, 20.84726333618164, 20.77872085571289, 23.678272247314453, 20.62441635131836, 20.382720947265625, 20.7379207611084, 21.211807250976562, 21.054048538208008], "step_mean_ms": 21.112125205993653, "step_p50_ms": 20.812992095947266, "step_p95_ms": 22.650184535980223, "sample_ms": 211.12125205993652, "sample_ms_from_mean": 211.12125205993652, "output_transfer_ms": 0.07049180567264557, "total_ms": 324.25156235694885, "control_frequency_hz": 3.0840252325420123, "prefill_share": 0.301204562430946, "sample_share": 0.6511032684787066, "other_share": 0.015323142657905822, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.803369641304016, "prefix_embed_ms": 39.75164794921875, "prefill_forward_ms": 55.1014404296875, "prefill_ms": 94.85308837890625, "step_ms": [21.068288803100586, 20.802431106567383, 20.427200317382812, 21.84182357788086, 20.445568084716797, 20.627872467041016, 20.538911819458008, 20.6495361328125, 20.34409523010254, 20.47145652770996], "step_mean_ms": 20.721718406677248, "step_p50_ms": 20.58339214324951, "step_p95_ms": 21.493732929229736, "sample_ms": 207.21718406677246, "sample_ms_from_mean": 207.21718406677246, "output_transfer_ms": 0.06687454879283905, "total_ms": 317.37858429551125, "control_frequency_hz": 3.1508112061805025, "prefill_share": 0.2988641738050874, "sample_share": 0.6529022256707545, "other_share": 0.017134324522262958, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.753961116075516, "prefix_embed_ms": 42.17955017089844, "prefill_forward_ms": 55.11372756958008, "prefill_ms": 97.29327774047852, "step_ms": [20.775680541992188, 21.292959213256836, 20.44607925415039, 20.352479934692383, 20.299392700195312, 20.2708797454834, 22.814720153808594, 21.038047790527344, 21.48396873474121, 20.751968383789062], "step_mean_ms": 20.952617645263672, "step_p50_ms": 20.763824462890625, "step_p95_ms": 22.21588201522827, "sample_ms": 209.52617645263672, "sample_ms_from_mean": 209.52617645263672, "output_transfer_ms": 0.0699218362569809, "total_ms": 321.31561264395714, "control_frequency_hz": 3.1122048249428773, "prefill_share": 0.3027966084184247, "sample_share": 0.6520883773077287, "other_share": 0.014541078349923364, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.646203368902206, "prefix_embed_ms": 39.23078536987305, "prefill_forward_ms": 55.17619323730469, "prefill_ms": 94.40697860717773, "step_ms": [20.969247817993164, 22.80521583557129, 20.780672073364258, 20.597503662109375, 20.527360916137695, 20.417407989501953, 20.479360580444336, 20.555103302001953, 20.465343475341797, 20.564767837524414], "step_mean_ms": 20.816198348999023, "step_p50_ms": 20.559935569763184, "step_p95_ms": 21.97903022766113, "sample_ms": 208.16198348999023, "sample_ms_from_mean": 208.16198348999023, "output_transfer_ms": 0.06246194243431091, "total_ms": 317.1177748590708, "control_frequency_hz": 3.153402550343974, "prefill_share": 0.29770320711014325, "sample_share": 0.6564185296219954, "other_share": 0.01526293331465663, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.736843407154083, "prefix_embed_ms": 42.274017333984375, "prefill_forward_ms": 55.153663635253906, "prefill_ms": 97.42768096923828, "step_ms": [20.720064163208008, 20.36083221435547, 20.571359634399414, 20.833568572998047, 20.37164878845215, 20.298784255981445, 21.898847579956055, 20.11907196044922, 20.411296844482422, 19.933855056762695], "step_mean_ms": 20.551932907104494, "step_p50_ms": 20.391472816467285, "step_p95_ms": 21.41947202682495, "sample_ms": 205.51932907104492, "sample_ms_from_mean": 205.51932907104492, "output_transfer_ms": 0.06461143493652344, "total_ms": 317.38930009305477, "control_frequency_hz": 3.1507048274998932, "prefill_share": 0.3069658647618985, "sample_share": 0.6475307422486803, "other_share": 0.01462190190192399, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.326405823230743, "prefix_embed_ms": 38.95673751831055, "prefill_forward_ms": 55.10246276855469, "prefill_ms": 94.05920028686523, "step_ms": [20.808799743652344, 20.375328063964844, 21.447296142578125, 20.303903579711914, 19.994016647338867, 20.288576126098633, 20.31987190246582, 20.12620735168457, 20.491840362548828, 20.146303176879883], "step_mean_ms": 20.43021430969238, "step_p50_ms": 20.311887741088867, "step_p95_ms": 21.15997276306152, "sample_ms": 204.30214309692383, "sample_ms_from_mean": 204.30214309692383, "output_transfer_ms": 0.06621517241001129, "total_ms": 312.31374107301235, "control_frequency_hz": 3.2019084288904893, "prefill_share": 0.3011689462132125, "sample_share": 0.6541567540224312, "other_share": 0.014599987429040322, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.457027539610863, "prefix_embed_ms": 40.83657455444336, "prefill_forward_ms": 55.15059280395508, "prefill_ms": 95.98716735839844, "step_ms": [21.59779167175293, 20.332191467285156, 20.446176528930664, 20.016447067260742, 20.217248916625977, 22.419231414794922, 20.394079208374023, 20.11212730407715, 20.178911209106445, 19.919679641723633], "step_mean_ms": 20.563388442993165, "step_p50_ms": 20.274720191955566, "step_p95_ms": 22.049583530426023, "sample_ms": 205.63388442993164, "sample_ms_from_mean": 205.63388442993164, "output_transfer_ms": 0.06379745900630951, "total_ms": 315.6467489898205, "control_frequency_hz": 3.168098525330447, "prefill_share": 0.3040968033587889, "sample_share": 0.651468406020438, "other_share": 0.014271878982724803, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.344018995761871, "prefix_embed_ms": 39.579776763916016, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.6750717163086, "step_ms": [22.124256134033203, 20.87753677368164, 21.111583709716797, 20.901695251464844, 20.78505516052246, 20.623071670532227, 20.429407119750977, 20.308992385864258, 20.328927993774414, 22.357919692993164], "step_mean_ms": 20.984844589233397, "step_p50_ms": 20.83129596710205, "step_p95_ms": 22.25277109146118, "sample_ms": 209.84844589233398, "sample_ms_from_mean": 209.84844589233398, "output_transfer_ms": 0.06912834942340851, "total_ms": 318.61780770123005, "control_frequency_hz": 3.138556527065513, "prefill_share": 0.2971430642856159, "sample_share": 0.658621209549939, "other_share": 0.014692031123984534, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.666964411735535, "prefix_embed_ms": 39.812320709228516, "prefill_forward_ms": 55.05945587158203, "prefill_ms": 94.87177658081055, "step_ms": [20.707008361816406, 20.248640060424805, 19.99622344970703, 22.06403160095215, 20.178272247314453, 20.323455810546875, 19.936031341552734, 19.944704055786133, 20.019712448120117, 20.19638442993164], "step_mean_ms": 20.361446380615234, "step_p50_ms": 20.187328338623047, "step_p95_ms": 21.453371143341062, "sample_ms": 203.61446380615234, "sample_ms_from_mean": 203.61446380615234, "output_transfer_ms": 0.06818398833274841, "total_ms": 312.6642722636461, "control_frequency_hz": 3.1983187358125003, "prefill_share": 0.30343018053822396, "sample_share": 0.6512239544736332, "other_share": 0.01420975746428938, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.916326195001602, "prefix_embed_ms": 39.605281829833984, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.70057678222656, "step_ms": [21.132640838623047, 20.250335693359375, 20.012224197387695, 20.35932731628418, 20.39571189880371, 20.12063980102539, 20.144607543945312, 19.932512283325195, 23.03638458251953, 20.75155258178711], "step_mean_ms": 20.613593673706056, "step_p50_ms": 20.304831504821777, "step_p95_ms": 22.17969989776611, "sample_ms": 206.13593673706055, "sample_ms_from_mean": 206.13593673706055, "output_transfer_ms": 0.06800144910812378, "total_ms": 316.43923185765743, "control_frequency_hz": 3.160164414916245, "prefill_share": 0.2992693928192359, "sample_share": 0.651423451911885, "other_share": 0.01459487392618267, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.69972088932991, "prefix_embed_ms": 38.497920989990234, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.57171249389648, "step_ms": [20.45903968811035, 22.154111862182617, 20.226207733154297, 20.101823806762695, 20.04096031188965, 20.29795265197754, 20.01692771911621, 20.016511917114258, 20.248191833496094, 20.099679946899414], "step_mean_ms": 20.36614074707031, "step_p50_ms": 20.164015769958496, "step_p95_ms": 21.391329383850096, "sample_ms": 203.66140747070312, "sample_ms_from_mean": 203.66140747070312, "output_transfer_ms": 0.06649456918239594, "total_ms": 311.4830534905195, "control_frequency_hz": 3.210447530913384, "prefill_share": 0.30040707333936706, "sample_share": 0.6538442627566635, "other_share": 0.014394741598820485, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.580753743648529, "prefix_embed_ms": 38.68876647949219, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 93.7523193359375, "step_ms": [20.593120574951172, 19.832223892211914, 20.191200256347656, 20.075231552124023, 20.050304412841797, 19.9201602935791, 19.998559951782227, 20.730207443237305, 21.922239303588867, 19.9149112701416], "step_mean_ms": 20.322815895080566, "step_p50_ms": 20.06276798248291, "step_p95_ms": 21.38582496643066, "sample_ms": 203.22815895080566, "sample_ms_from_mean": 203.22815895080566, "output_transfer_ms": 0.06386637687683105, "total_ms": 311.28889322280884, "control_frequency_hz": 3.212449983829772, "prefill_share": 0.3011746367347361, "sample_share": 0.6528602959352701, "other_share": 0.014982207579767858, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.458554908633232, "prefix_embed_ms": 38.55696105957031, "prefill_forward_ms": 55.182334899902344, "prefill_ms": 93.73929595947266, "step_ms": [20.450368881225586, 20.163808822631836, 20.212543487548828, 22.329151153564453, 20.05683135986328, 19.941696166992188, 20.121536254882812, 20.16326332092285, 20.194847106933594, 20.05116844177246], "step_mean_ms": 20.36852149963379, "step_p50_ms": 20.163536071777344, "step_p95_ms": 21.48369913101196, "sample_ms": 203.6852149963379, "sample_ms_from_mean": 203.6852149963379, "output_transfer_ms": 0.0607222318649292, "total_ms": 311.3571237772703, "control_frequency_hz": 3.2117460100747564, "prefill_share": 0.301066809785053, "sample_share": 0.6541851765757072, "other_share": 0.014174513264449006, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.302353486418724, "prefix_embed_ms": 40.37385559082031, "prefill_forward_ms": 55.17107009887695, "prefill_ms": 95.54492568969727, "step_ms": [21.258272171020508, 21.280799865722656, 20.9617919921875, 21.644927978515625, 21.2193603515625, 20.91878318786621, 20.31318473815918, 20.480640411376953, 22.184223175048828, 20.33977508544922], "step_mean_ms": 21.060175895690918, "step_p50_ms": 21.090576171875, "step_p95_ms": 21.941540336608885, "sample_ms": 210.60175895690918, "sample_ms_from_mean": 210.60175895690918, "output_transfer_ms": 0.06598047912120819, "total_ms": 320.1338071376085, "control_frequency_hz": 3.1236938358408146, "prefill_share": 0.29845309542277604, "sample_share": 0.6578554162709304, "other_share": 0.014427681246038406, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.546281769871712, "prefix_embed_ms": 39.82787322998047, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 94.87504196166992, "step_ms": [20.493375778198242, 20.114816665649414, 19.96780776977539, 21.570175170898438, 20.0644474029541, 19.918495178222656, 19.98633575439453, 19.877920150756836, 19.873600006103516, 19.837919235229492], "step_mean_ms": 20.17048931121826, "step_p50_ms": 19.97707176208496, "step_p95_ms": 21.085615444183347, "sample_ms": 201.70489311218262, "sample_ms_from_mean": 201.70489311218262, "output_transfer_ms": 0.06601214408874512, "total_ms": 310.6142822653055, "control_frequency_hz": 3.2194269777520024, "prefill_share": 0.30544326960675344, "sample_share": 0.6493741744299448, "other_share": 0.014236477618616091, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.361863136291504, "prefix_embed_ms": 38.66236877441406, "prefill_forward_ms": 54.99494552612305, "prefill_ms": 93.65731430053711, "step_ms": [20.415775299072266, 20.571456909179688, 20.547168731689453, 20.446399688720703, 20.297311782836914, 20.629472732543945, 20.63222312927246, 21.308992385864258, 20.050016403198242, 19.896991729736328], "step_mean_ms": 20.479580879211426, "step_p50_ms": 20.496784210205078, "step_p95_ms": 21.00444622039795, "sample_ms": 204.79580879211426, "sample_ms_from_mean": 204.79580879211426, "output_transfer_ms": 0.062035396695137024, "total_ms": 312.4070093035698, "control_frequency_hz": 3.200952508169519, "prefill_share": 0.29979261511872524, "sample_share": 0.6555416578157234, "other_share": 0.014500275419652764, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.449644014239311, "prefix_embed_ms": 39.380287170410156, "prefill_forward_ms": 55.02867126464844, "prefill_ms": 94.4089584350586, "step_ms": [20.471935272216797, 21.451200485229492, 19.98691177368164, 20.098047256469727, 20.078176498413086, 20.014463424682617, 20.05193519592285, 20.531232833862305, 20.192832946777344, 20.04252815246582], "step_mean_ms": 20.291926383972168, "step_p50_ms": 20.088111877441406, "step_p95_ms": 21.03721504211426, "sample_ms": 202.91926383972168, "sample_ms_from_mean": 202.91926383972168, "output_transfer_ms": 0.06613694131374359, "total_ms": 311.2442269921303, "control_frequency_hz": 3.2129109981059494, "prefill_share": 0.3033275808757272, "sample_share": 0.6519615345182047, "other_share": 0.014137527318404558, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.460873901844025, "prefix_embed_ms": 38.98284912109375, "prefill_forward_ms": 55.007232666015625, "prefill_ms": 93.99008178710938, "step_ms": [20.62076759338379, 20.107168197631836, 20.133056640625, 20.202816009521484, 20.037696838378906, 20.503263473510742, 19.917760848999023, 21.933536529541016, 20.07356834411621, 20.05129623413086], "step_mean_ms": 20.358093070983887, "step_p50_ms": 20.120112419128418, "step_p95_ms": 21.342790508270262, "sample_ms": 203.58093070983887, "sample_ms_from_mean": 203.58093070983887, "output_transfer_ms": 0.0920277088880539, "total_ms": 311.65059469640255, "control_frequency_hz": 3.2087216165082557, "prefill_share": 0.30158800716767675, "sample_share": 0.6532345330775293, "other_share": 0.014524857856061333, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.446851909160614, "prefix_embed_ms": 38.74153518676758, "prefill_forward_ms": 55.018497467041016, "prefill_ms": 93.7600326538086, "step_ms": [20.48134422302246, 19.98851203918457, 19.883392333984375, 20.064191818237305, 23.167680740356445, 20.63065528869629, 21.102367401123047, 20.40662384033203, 20.386911392211914, 20.23865509033203], "step_mean_ms": 20.635033416748048, "step_p50_ms": 20.396767616271973, "step_p95_ms": 22.238289737701415, "sample_ms": 206.35033416748047, "sample_ms_from_mean": 206.35033416748047, "output_transfer_ms": 0.059584155678749084, "total_ms": 314.01466205716133, "control_frequency_hz": 3.1845646743016287, "prefill_share": 0.29858488785068604, "sample_share": 0.6571359847200947, "other_share": 0.014005266958624836, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.340325370430946, "prefix_embed_ms": 38.737857818603516, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 93.80448150634766, "step_ms": [20.513439178466797, 19.836416244506836, 19.96668815612793, 20.104703903198242, 20.059968948364258, 20.20534324645996, 19.9783992767334, 22.16547203063965, 20.08255958557129, 20.216352462768555], "step_mean_ms": 20.31293430328369, "step_p50_ms": 20.093631744384766, "step_p95_ms": 21.422057247161863, "sample_ms": 203.1293430328369, "sample_ms_from_mean": 203.1293430328369, "output_transfer_ms": 0.06336718797683716, "total_ms": 310.74296683073044, "control_frequency_hz": 3.218093751884416, "prefill_share": 0.30187161583433464, "sample_share": 0.6536892696383587, "other_share": 0.014177150260452537, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.401367977261543, "prefix_embed_ms": 38.2599983215332, "prefill_forward_ms": 55.147518157958984, "prefill_ms": 93.40751647949219, "step_ms": [20.730079650878906, 20.763999938964844, 20.527423858642578, 20.024991989135742, 19.808544158935547, 19.894559860229492, 19.85113525390625, 19.887168884277344, 20.000608444213867, 19.894784927368164], "step_mean_ms": 20.138329696655273, "step_p50_ms": 19.947696685791016, "step_p95_ms": 20.74873580932617, "sample_ms": 201.38329696655273, "sample_ms_from_mean": 201.38329696655273, "output_transfer_ms": 0.06524473428726196, "total_ms": 309.5040787011385, "control_frequency_hz": 3.2309751916568894, "prefill_share": 0.3017973684595213, "sample_share": 0.650664436513004, "other_share": 0.01695180420743667, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.417673572897911, "prefix_embed_ms": 38.37446212768555, "prefill_forward_ms": 55.05023956298828, "prefill_ms": 93.42470169067383, "step_ms": [20.50774383544922, 19.927200317382812, 19.91481590270996, 20.096223831176758, 20.010623931884766, 19.871328353881836, 19.774272918701172, 19.873184204101562, 21.711423873901367, 20.69887924194336], "step_mean_ms": 20.23856964111328, "step_p50_ms": 19.96891212463379, "step_p95_ms": 21.255778789520264, "sample_ms": 202.3856964111328, "sample_ms_from_mean": 202.3856964111328, "output_transfer_ms": 0.0628884881734848, "total_ms": 309.74437296390533, "control_frequency_hz": 3.228468657658328, "prefill_share": 0.30161872125941946, "sample_share": 0.6533958776216958, "other_share": 0.014377703647731015, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.478358551859856, "prefix_embed_ms": 39.07683181762695, "prefill_forward_ms": 55.04307174682617, "prefill_ms": 94.11990356445312, "step_ms": [20.439424514770508, 20.0086727142334, 22.73641586303711, 20.074623107910156, 19.99990463256836, 19.932992935180664, 19.806175231933594, 19.826143264770508, 19.842016220092773, 19.857248306274414], "step_mean_ms": 20.252361679077147, "step_p50_ms": 19.96644878387451, "step_p95_ms": 21.702769756317135, "sample_ms": 202.52361679077148, "sample_ms_from_mean": 202.52361679077148, "output_transfer_ms": 0.06939098238945007, "total_ms": 310.5575926601887, "control_frequency_hz": 3.22001465632881, "prefill_share": 0.30306746892979325, "sample_share": 0.6521290143190036, "other_share": 0.014059623315963745, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.32796485722065, "prefix_embed_ms": 38.28031921386719, "prefill_forward_ms": 55.13216018676758, "prefill_ms": 93.41247940063477, "step_ms": [20.44380760192871, 20.061664581298828, 20.14838409423828, 20.03366470336914, 19.967296600341797, 20.183679580688477, 19.96124839782715, 20.150815963745117, 21.23369598388672, 20.10576057434082], "step_mean_ms": 20.229001808166505, "step_p50_ms": 20.12707233428955, "step_p95_ms": 20.878246212005614, "sample_ms": 202.29001808166504, "sample_ms_from_mean": 202.29001808166504, "output_transfer_ms": 0.0657401978969574, "total_ms": 309.58880111575127, "control_frequency_hz": 3.2300909994031497, "prefill_share": 0.3017308089439225, "sample_share": 0.6534151666746867, "other_share": 0.01451150223180757, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.508056566119194, "prefix_embed_ms": 38.49824142456055, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.54950714111328, "step_ms": [22.409439086914062, 19.994144439697266, 20.067359924316406, 20.14112091064453, 20.222688674926758, 23.465503692626953, 21.422399520874023, 20.858911514282227, 20.656192779541016, 20.866527557373047], "step_mean_ms": 21.010428810119627, "step_p50_ms": 20.75755214691162, "step_p95_ms": 22.99027462005615, "sample_ms": 210.1042881011963, "sample_ms_from_mean": 210.1042881011963, "output_transfer_ms": 0.06383843719959259, "total_ms": 317.7640065550804, "control_frequency_hz": 3.1469895248399147, "prefill_share": 0.29439931902702027, "sample_share": 0.6611959937784122, "other_share": 0.014282033886255763, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.00015065073967, "prefix_embed_ms": 40.35011291503906, "prefill_forward_ms": 55.03897476196289, "prefill_ms": 95.38908767700195, "step_ms": [20.89366340637207, 20.254432678222656, 20.058496475219727, 20.047775268554688, 20.058975219726562, 19.919967651367188, 19.945791244506836, 21.53094482421875, 20.12112045288086, 20.045312881469727], "step_mean_ms": 20.287648010253907, "step_p50_ms": 20.058735847473145, "step_p95_ms": 21.244168186187743, "sample_ms": 202.87648010253906, "sample_ms_from_mean": 202.87648010253906, "output_transfer_ms": 0.06648525595664978, "total_ms": 313.60678374767303, "control_frequency_hz": 3.1887065325876263, "prefill_share": 0.30416780701323, "sample_share": 0.6469135574113498, "other_share": 0.01681908789855646, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.3483105301857, "prefix_embed_ms": 38.46342468261719, "prefill_forward_ms": 55.11782455444336, "prefill_ms": 93.58124923706055, "step_ms": [20.387104034423828, 21.915584564208984, 20.357791900634766, 20.260255813598633, 20.34726333618164, 20.336544036865234, 20.459808349609375, 20.336992263793945, 20.294240951538086, 20.09516716003418], "step_mean_ms": 20.479075241088868, "step_p50_ms": 20.342127799987793, "step_p95_ms": 21.260485267639158, "sample_ms": 204.79075241088867, "sample_ms_from_mean": 204.79075241088867, "output_transfer_ms": 0.06420351564884186, "total_ms": 312.19680793583393, "control_frequency_hz": 3.2031077018748086, "prefill_share": 0.2997508201822947, "sample_share": 0.6559668363200545, "other_share": 0.01413304726343337, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.646806865930557, "prefix_embed_ms": 41.15526580810547, "prefill_forward_ms": 55.04512023925781, "prefill_ms": 96.20038604736328, "step_ms": [20.633119583129883, 19.92972755432129, 20.04102325439453, 20.176095962524414, 20.133440017700195, 22.187231063842773, 20.065919876098633, 20.32681655883789, 20.360416412353516, 20.180479049682617], "step_mean_ms": 20.403426933288575, "step_p50_ms": 20.178287506103516, "step_p95_ms": 21.487880897521972, "sample_ms": 204.03426933288574, "sample_ms_from_mean": 204.03426933288574, "output_transfer_ms": 0.06016157567501068, "total_ms": 314.3803309649229, "control_frequency_hz": 3.180860573976479, "prefill_share": 0.3060000151793748, "sample_share": 0.6490045630610743, "other_share": 0.014118908550813773, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.476892650127411, "prefix_embed_ms": 38.54848098754883, "prefill_forward_ms": 55.16185760498047, "prefill_ms": 93.7103385925293, "step_ms": [20.864351272583008, 20.04921531677246, 20.149856567382812, 20.26038360595703, 20.05833625793457, 20.029632568359375, 19.91587257385254, 20.08915138244629, 20.07766342163086, 27.868192672729492], "step_mean_ms": 20.936265563964845, "step_p50_ms": 20.083407402038574, "step_p95_ms": 24.716464042663567, "sample_ms": 209.36265563964844, "sample_ms_from_mean": 209.36265563964844, "output_transfer_ms": 0.0760052353143692, "total_ms": 317.544411867857, "control_frequency_hz": 3.1491657942201177, "prefill_share": 0.2951093928603787, "sample_share": 0.6593177137274665, "other_share": 0.015489234155643902, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 14.07010667026043, "prefix_embed_ms": 56.93145751953125, "prefill_forward_ms": 55.20588684082031, "prefill_ms": 112.13734436035156, "step_ms": [20.411487579345703, 19.978271484375, 19.850271224975586, 19.822816848754883, 19.747936248779297, 23.286367416381836, 20.510143280029297, 20.385055541992188, 20.311904907226562, 20.201120376586914], "step_mean_ms": 20.450537490844727, "step_p50_ms": 20.25651264190674, "step_p95_ms": 22.03706655502319, "sample_ms": 204.50537490844727, "sample_ms_from_mean": 204.50537490844727, "output_transfer_ms": 0.06680749356746674, "total_ms": 335.3846687823534, "control_frequency_hz": 2.981650901427895, "prefill_share": 0.33435441389577253, "sample_share": 0.6097636354426214, "other_share": 0.013730607801619868, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 32, "actual_token_count": 32, "language_token_count": 32, "image_token_count": 512, "prefix_token_count": 544, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 32, "language_raw_token_count": 32, "prompt_sha256": "a3644abcafab59faea80ea13769daa9f1618a9459ff11ffdf2b7fa86e10de2c9", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.621171280741692, "prefix_embed_ms": 38.66048049926758, "prefill_forward_ms": 55.219200134277344, "prefill_ms": 93.87968063354492, "step_ms": [22.960128784179688, 20.653823852539062, 20.328895568847656, 19.83407974243164, 19.977088928222656, 20.01888084411621, 20.307199478149414, 19.971967697143555, 19.856544494628906, 19.847360610961914], "step_mean_ms": 20.37559700012207, "step_p50_ms": 19.997984886169434, "step_p95_ms": 21.922291564941403, "sample_ms": 203.7559700012207, "sample_ms_from_mean": 203.7559700012207, "output_transfer_ms": 0.05941465497016907, "total_ms": 311.9746707379818, "control_frequency_hz": 3.2053884298827264, "prefill_share": 0.30092084210385034, "sample_share": 0.6531170287614447, "other_share": 0.014932090981888687, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.558841586112976, "prefix_embed_ms": 39.6635856628418, "prefill_forward_ms": 55.14854431152344, "prefill_ms": 94.81212997436523, "step_ms": [20.500768661499023, 20.342304229736328, 19.988767623901367, 19.865280151367188, 19.887903213500977, 20.094655990600586, 20.03772735595703, 19.971872329711914, 19.917280197143555, 21.704544067382812], "step_mean_ms": 20.23111038208008, "step_p50_ms": 20.0132474899292, "step_p95_ms": 21.162845134735107, "sample_ms": 202.31110382080078, "sample_ms_from_mean": 202.31110382080078, "output_transfer_ms": 0.06958097219467163, "total_ms": 311.2885598093271, "control_frequency_hz": 3.212453424605542, "prefill_share": 0.3045795516302954, "sample_share": 0.6499149983048588, "other_share": 0.014574591043861173, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.678252041339874, "prefix_embed_ms": 38.72457504272461, "prefill_forward_ms": 55.02259063720703, "prefill_ms": 93.74716567993164, "step_ms": [20.452991485595703, 20.103839874267578, 20.103071212768555, 21.898271560668945, 19.95136070251465, 20.172000885009766, 20.10540771484375, 19.958335876464844, 20.012928009033203, 20.18739128112793], "step_mean_ms": 20.29455986022949, "step_p50_ms": 20.104623794555664, "step_p95_ms": 21.247895526885983, "sample_ms": 202.94559860229492, "sample_ms_from_mean": 202.94559860229492, "output_transfer_ms": 0.06112828850746155, "total_ms": 310.8468670397997, "control_frequency_hz": 3.21701810773587, "prefill_share": 0.3015863295412548, "sample_share": 0.6528796655888782, "other_share": 0.014202241990621534, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.264381766319275, "prefix_embed_ms": 42.438560485839844, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 97.48982620239258, "step_ms": [20.421215057373047, 19.8654727935791, 20.104991912841797, 20.150432586669922, 19.994272232055664, 19.955551147460938, 19.825952529907227, 20.86672019958496, 20.138336181640625, 20.211807250976562], "step_mean_ms": 20.153475189208983, "step_p50_ms": 20.12166404724121, "step_p95_ms": 20.6662428855896, "sample_ms": 201.53475189208984, "sample_ms_from_mean": 201.53475189208984, "output_transfer_ms": 0.06257370114326477, "total_ms": 313.7963321059942, "control_frequency_hz": 3.186780397618605, "prefill_share": 0.3106786671090293, "sample_share": 0.6422469967686409, "other_share": 0.014164596871539906, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.620482102036476, "prefix_embed_ms": 39.31267166137695, "prefill_forward_ms": 55.22636795043945, "prefill_ms": 94.5390396118164, "step_ms": [22.601343154907227, 20.137279510498047, 20.236896514892578, 20.00819206237793, 20.078208923339844, 20.3438720703125, 21.56390380859375, 20.06211280822754, 20.11564826965332, 19.929471969604492], "step_mean_ms": 20.507692909240724, "step_p50_ms": 20.126463890075684, "step_p95_ms": 22.13449544906616, "sample_ms": 205.07692909240723, "sample_ms_from_mean": 205.07692909240723, "output_transfer_ms": 0.06316229701042175, "total_ms": 313.8422556221485, "control_frequency_hz": 3.1863140864114663, "prefill_share": 0.3012310736309422, "sample_share": 0.6534395079651426, "other_share": 0.014474285847432582, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.746499359607697, "prefix_embed_ms": 39.24076843261719, "prefill_forward_ms": 55.04819107055664, "prefill_ms": 94.28895950317383, "step_ms": [20.930112838745117, 20.119583129882812, 20.70639991760254, 20.80339241027832, 20.203231811523438, 20.340576171875, 19.982463836669922, 22.11248016357422, 20.500768661499023, 20.281280517578125], "step_mean_ms": 20.598028945922852, "step_p50_ms": 20.42067241668701, "step_p95_ms": 21.58041486740112, "sample_ms": 205.98028945922852, "sample_ms_from_mean": 205.98028945922852, "output_transfer_ms": 0.06406009197235107, "total_ms": 314.6669343113899, "control_frequency_hz": 3.177963398627751, "prefill_share": 0.2996468621957807, "sample_share": 0.6545978207401778, "other_share": 0.014577718206858612, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.973123669624329, "prefix_embed_ms": 38.88848114013672, "prefill_forward_ms": 55.12294387817383, "prefill_ms": 94.01142501831055, "step_ms": [20.591999053955078, 20.185983657836914, 19.923999786376953, 21.923519134521484, 19.9751033782959, 19.845407485961914, 19.858816146850586, 19.92473602294922, 20.130847930908203, 19.917728424072266], "step_mean_ms": 20.22781410217285, "step_p50_ms": 19.94991970062256, "step_p95_ms": 21.3243350982666, "sample_ms": 202.27814102172852, "sample_ms_from_mean": 202.27814102172852, "output_transfer_ms": 0.06487220525741577, "total_ms": 310.8591604977846, "control_frequency_hz": 3.2168908852442413, "prefill_share": 0.3024244962502256, "sample_share": 0.6507067081369478, "other_share": 0.014577658176800304, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.565997868776321, "prefix_embed_ms": 38.71206283569336, "prefill_forward_ms": 55.04512023925781, "prefill_ms": 93.75718307495117, "step_ms": [20.56175994873047, 20.79814338684082, 20.27039909362793, 20.006912231445312, 20.613567352294922, 20.088703155517578, 22.233407974243164, 19.935136795043945, 19.893600463867188, 20.061664581298828], "step_mean_ms": 20.446329498291014, "step_p50_ms": 20.179551124572754, "step_p95_ms": 21.58753890991211, "sample_ms": 204.46329498291016, "sample_ms_from_mean": 204.46329498291016, "output_transfer_ms": 0.07714331150054932, "total_ms": 312.32949160039425, "control_frequency_hz": 3.201746959199858, "prefill_share": 0.30018677581336933, "sample_share": 0.6546397329795163, "other_share": 0.014298593256027997, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.473247453570366, "prefix_embed_ms": 38.34524917602539, "prefill_forward_ms": 55.02054214477539, "prefill_ms": 93.36579132080078, "step_ms": [22.639999389648438, 19.966720581054688, 19.9965763092041, 20.062047958374023, 19.875200271606445, 19.861536026000977, 19.825599670410156, 20.35558319091797, 19.963167190551758, 21.952224731445312], "step_mean_ms": 20.449865531921386, "step_p50_ms": 19.981648445129395, "step_p95_ms": 22.33050079345703, "sample_ms": 204.49865531921387, "sample_ms_from_mean": 204.49865531921387, "output_transfer_ms": 0.059193000197410583, "total_ms": 311.87619641423225, "control_frequency_hz": 3.2064005252642156, "prefill_share": 0.29936812233272475, "sample_share": 0.6557045958313531, "other_share": 0.01436245975791123, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.421773254871368, "prefix_embed_ms": 39.49507141113281, "prefill_forward_ms": 55.126014709472656, "prefill_ms": 94.62108612060547, "step_ms": [20.45929527282715, 20.55833625793457, 20.11190414428711, 23.2423038482666, 20.368480682373047, 20.453632354736328, 20.076095581054688, 19.976991653442383, 20.087871551513672, 19.92803192138672], "step_mean_ms": 20.526294326782228, "step_p50_ms": 20.240192413330078, "step_p95_ms": 22.034518432617183, "sample_ms": 205.26294326782227, "sample_ms_from_mean": 205.26294326782227, "output_transfer_ms": 0.07401034235954285, "total_ms": 314.4677020609379, "control_frequency_hz": 3.179976809848087, "prefill_share": 0.3008928595861641, "sample_share": 0.6527313995128383, "other_share": 0.016179369270467397, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.510969743132591, "prefix_embed_ms": 38.3131217956543, "prefill_forward_ms": 55.04716873168945, "prefill_ms": 93.36029052734375, "step_ms": [20.45043182373047, 20.152416229248047, 20.535808563232422, 20.266080856323242, 20.269311904907227, 20.47056007385254, 19.99065589904785, 21.412736892700195, 20.161088943481445, 20.007232666015625], "step_mean_ms": 20.371632385253907, "step_p50_ms": 20.267696380615234, "step_p95_ms": 21.018119144439698, "sample_ms": 203.71632385253906, "sample_ms_from_mean": 203.71632385253906, "output_transfer_ms": 0.06268918514251709, "total_ms": 311.10965088009834, "control_frequency_hz": 3.2143008009269374, "prefill_share": 0.3000880566168126, "sample_share": 0.6548055429211077, "other_share": 0.01433378090112372, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.649695828557014, "prefix_embed_ms": 38.67958450317383, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 93.73392105102539, "step_ms": [20.312255859375, 21.94220733642578, 20.084543228149414, 19.95155143737793, 20.316896438598633, 20.35875129699707, 20.186464309692383, 20.410112380981445, 20.505216598510742, 20.11622428894043], "step_mean_ms": 20.418422317504884, "step_p50_ms": 20.314576148986816, "step_p95_ms": 21.295561504364013, "sample_ms": 204.18422317504883, "sample_ms_from_mean": 204.18422317504883, "output_transfer_ms": 0.05896762013435364, "total_ms": 311.9315318763256, "control_frequency_hz": 3.2058317220603376, "prefill_share": 0.30049517753847643, "sample_share": 0.6545802597988191, "other_share": 0.013800221400081972, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.573081508278847, "prefix_embed_ms": 57.15951919555664, "prefill_forward_ms": 55.63391876220703, "prefill_ms": 112.79343795776367, "step_ms": [29.4703369140625, 20.740896224975586, 21.298112869262695, 22.05423927307129, 21.83679962158203, 21.66431999206543, 21.29427146911621, 21.80780792236328, 22.850080490112305, 20.8636474609375], "step_mean_ms": 22.388051223754882, "step_p50_ms": 21.736063957214355, "step_p95_ms": 26.491221523284906, "sample_ms": 223.88051223754883, "sample_ms_from_mean": 223.88051223754883, "output_transfer_ms": 0.07437542080879211, "total_ms": 351.5621107071638, "control_frequency_hz": 2.844447594163403, "prefill_share": 0.3208350232363799, "sample_share": 0.636816384414166, "other_share": 0.014906906697715652, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.580094531178474, "prefix_embed_ms": 41.2988166809082, "prefill_forward_ms": 55.21510314941406, "prefill_ms": 96.51391983032227, "step_ms": [20.98134422302246, 20.795808792114258, 21.549440383911133, 20.793792724609375, 20.420896530151367, 20.19068717956543, 20.42188835144043, 20.721023559570312, 20.47177505493164, 20.6724796295166], "step_mean_ms": 20.7019136428833, "step_p50_ms": 20.696751594543457, "step_p95_ms": 21.29379711151123, "sample_ms": 207.019136428833, "sample_ms_from_mean": 207.019136428833, "output_transfer_ms": 0.06671994924545288, "total_ms": 319.28047351539135, "control_frequency_hz": 3.1320424609423965, "prefill_share": 0.30228569498055974, "sample_share": 0.6483927255227319, "other_share": 0.0159753044702443, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.191643610596657, "prefix_embed_ms": 39.79129409790039, "prefill_forward_ms": 55.15468978881836, "prefill_ms": 94.94598388671875, "step_ms": [24.109376907348633, 21.303071975708008, 20.32918357849121, 20.288223266601562, 20.25312042236328, 20.256799697875977, 20.652000427246094, 20.3176326751709, 20.508960723876953, 20.44620704650879], "step_mean_ms": 20.84645767211914, "step_p50_ms": 20.3876953125, "step_p95_ms": 22.846539688110347, "sample_ms": 208.4645767211914, "sample_ms_from_mean": 208.4645767211914, "output_transfer_ms": 0.07396750152111053, "total_ms": 319.2807212471962, "control_frequency_hz": 3.132040030772079, "prefill_share": 0.29737462229424394, "sample_share": 0.6529193992887288, "other_share": 0.01755367347353576, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.13207621872425, "prefix_embed_ms": 41.52483367919922, "prefill_forward_ms": 55.11065673828125, "prefill_ms": 96.63549041748047, "step_ms": [21.203519821166992, 20.522720336914062, 20.76691246032715, 20.781152725219727, 21.18560028076172, 21.716096878051758, 20.418720245361328, 22.95065689086914, 21.07097625732422, 20.959903717041016], "step_mean_ms": 21.15762596130371, "step_p50_ms": 21.015439987182617, "step_p95_ms": 22.39510488510132, "sample_ms": 211.5762596130371, "sample_ms_from_mean": 211.5762596130371, "output_transfer_ms": 0.07635541260242462, "total_ms": 323.39174300432205, "control_frequency_hz": 3.0922248994670074, "prefill_share": 0.29881866964113846, "sample_share": 0.654241378111529, "other_share": 0.01537318577243747, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.35657711327076, "prefix_embed_ms": 40.12617492675781, "prefill_forward_ms": 55.28575897216797, "prefill_ms": 95.41193389892578, "step_ms": [21.534015655517578, 22.446592330932617, 21.05945587158203, 21.106239318847656, 21.01968002319336, 20.544544219970703, 20.63167953491211, 20.50320053100586, 20.826688766479492, 20.90025520324707], "step_mean_ms": 21.057235145568846, "step_p50_ms": 20.959967613220215, "step_p95_ms": 22.03593282699585, "sample_ms": 210.57235145568848, "sample_ms_from_mean": 210.57235145568848, "output_transfer_ms": 0.08311867713928223, "total_ms": 321.35381549596786, "control_frequency_hz": 3.1118348430269296, "prefill_share": 0.29690618034725946, "sample_share": 0.6552663802379237, "other_share": 0.015340830303617234, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.448427870869637, "prefix_embed_ms": 40.77510452270508, "prefill_forward_ms": 55.28268814086914, "prefill_ms": 96.05779266357422, "step_ms": [21.124576568603516, 20.766111373901367, 20.898143768310547, 21.470272064208984, 21.25766372680664, 20.819679260253906, 20.978784561157227, 21.06697654724121, 21.632160186767578, 21.902912139892578], "step_mean_ms": 21.191728019714354, "step_p50_ms": 21.095776557922363, "step_p95_ms": 21.781073760986327, "sample_ms": 211.91728019714355, "sample_ms_from_mean": 211.91728019714355, "output_transfer_ms": 0.06965361535549164, "total_ms": 323.5063310712576, "control_frequency_hz": 3.0911296131009367, "prefill_share": 0.29692708747148416, "sample_share": 0.6550637803451992, "other_share": 0.015496379028237488, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.304177179932594, "prefix_embed_ms": 40.629600524902344, "prefill_forward_ms": 55.09939193725586, "prefill_ms": 95.7289924621582, "step_ms": [21.58460807800293, 20.84828758239746, 20.90656089782715, 21.382272720336914, 21.75948715209961, 20.99091148376465, 20.638208389282227, 20.754911422729492, 20.683551788330078, 20.832000732421875], "step_mean_ms": 21.03808002471924, "step_p50_ms": 20.877424240112305, "step_p95_ms": 21.680791568756103, "sample_ms": 210.38080024719238, "sample_ms_from_mean": 210.38080024719238, "output_transfer_ms": 0.08090585470199585, "total_ms": 321.5012364089489, "control_frequency_hz": 3.1104079448329154, "prefill_share": 0.2977562187051471, "sample_share": 0.6543701125291738, "other_share": 0.015571823987002159, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.933918714523315, "prefix_embed_ms": 40.03664016723633, "prefill_forward_ms": 55.23148727416992, "prefill_ms": 95.26812744140625, "step_ms": [22.055200576782227, 20.66864013671875, 20.503103256225586, 20.640352249145508, 20.68694305419922, 21.9300479888916, 21.186527252197266, 20.7042236328125, 20.81430435180664, 20.680192947387695], "step_mean_ms": 20.9869535446167, "step_p50_ms": 20.69558334350586, "step_p95_ms": 21.998881912231447, "sample_ms": 209.869535446167, "sample_ms_from_mean": 209.869535446167, "output_transfer_ms": 0.06907247006893158, "total_ms": 320.0445678085089, "control_frequency_hz": 3.124564828103336, "prefill_share": 0.2976714402426842, "sample_share": 0.6557509689454798, "other_share": 0.015322596380631354, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.185109451413155, "prefix_embed_ms": 40.9343376159668, "prefill_forward_ms": 55.5601921081543, "prefill_ms": 96.4945297241211, "step_ms": [21.586719512939453, 21.143552780151367, 20.657535552978516, 20.68022346496582, 20.25542449951172, 20.185087203979492, 23.150432586669922, 20.088703155517578, 19.96451187133789, 20.207263946533203], "step_mean_ms": 20.791945457458496, "step_p50_ms": 20.456480026245117, "step_p95_ms": 22.44676170349121, "sample_ms": 207.91945457458496, "sample_ms_from_mean": 207.91945457458496, "output_transfer_ms": 0.06279908120632172, "total_ms": 319.7082690894604, "control_frequency_hz": 3.1278515343004196, "prefill_share": 0.3018205628491896, "sample_share": 0.650341185002022, "other_share": 0.015784315721664274, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.740980342030525, "prefix_embed_ms": 38.824222564697266, "prefill_forward_ms": 55.042049407958984, "prefill_ms": 93.86627197265625, "step_ms": [20.60220718383789, 20.19977569580078, 19.83897590637207, 22.037151336669922, 20.304384231567383, 20.069984436035156, 20.112863540649414, 20.375200271606445, 20.4768009185791, 20.363712310791016], "step_mean_ms": 20.438105583190918, "step_p50_ms": 20.3340482711792, "step_p95_ms": 21.391426467895506, "sample_ms": 204.38105583190918, "sample_ms_from_mean": 204.38105583190918, "output_transfer_ms": 0.07226131856441498, "total_ms": 312.5835694372654, "control_frequency_hz": 3.1991444777480447, "prefill_share": 0.30029176562811927, "sample_share": 0.653844526120967, "other_share": 0.014469730383614354, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.248403996229172, "prefix_embed_ms": 39.746849060058594, "prefill_forward_ms": 55.165950775146484, "prefill_ms": 94.91279983520508, "step_ms": [21.066591262817383, 22.148256301879883, 20.395872116088867, 20.68726348876953, 20.721088409423828, 20.536640167236328, 20.35843276977539, 20.205215454101562, 20.231264114379883, 20.415903091430664], "step_mean_ms": 20.676652717590333, "step_p50_ms": 20.476271629333496, "step_p95_ms": 21.661507034301756, "sample_ms": 206.76652717590332, "sample_ms_from_mean": 206.76652717590332, "output_transfer_ms": 0.06938539445400238, "total_ms": 316.8179765343666, "control_frequency_hz": 3.156386550216874, "prefill_share": 0.29958148484326763, "sample_share": 0.652635085413073, "other_share": 0.015216498082936578, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.724808856844902, "prefix_embed_ms": 39.683006286621094, "prefill_forward_ms": 55.23455810546875, "prefill_ms": 94.91756439208984, "step_ms": [20.6561279296875, 20.505664825439453, 20.181856155395508, 20.301855087280273, 20.580320358276367, 20.216320037841797, 20.653663635253906, 21.15500831604004, 20.16851234436035, 20.28825569152832], "step_mean_ms": 20.47075843811035, "step_p50_ms": 20.403759956359863, "step_p95_ms": 20.930512142181396, "sample_ms": 204.70758438110352, "sample_ms_from_mean": 204.70758438110352, "output_transfer_ms": 0.06701983511447906, "total_ms": 314.0639699995518, "control_frequency_hz": 3.1840646986708703, "prefill_share": 0.30222366606467244, "sample_share": 0.6518021929780601, "other_share": 0.014796324883767038, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.024838149547577, "prefix_embed_ms": 38.83321762084961, "prefill_forward_ms": 55.09222412109375, "prefill_ms": 93.92544174194336, "step_ms": [20.3472957611084, 20.158527374267578, 21.959455490112305, 20.362783432006836, 20.23107147216797, 19.965055465698242, 20.044448852539062, 20.046432495117188, 20.368896484375, 21.178367614746094], "step_mean_ms": 20.466233444213866, "step_p50_ms": 20.289183616638184, "step_p95_ms": 21.60796594619751, "sample_ms": 204.66233444213867, "sample_ms_from_mean": 204.66233444213867, "output_transfer_ms": 0.06804987788200378, "total_ms": 313.2098373025656, "control_frequency_hz": 3.192747739382095, "prefill_share": 0.2998802417920543, "sample_share": 0.6534352056268005, "other_share": 0.014460507147732754, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.055340826511383, "prefix_embed_ms": 39.778751373291016, "prefill_forward_ms": 55.193599700927734, "prefill_ms": 94.97235107421875, "step_ms": [20.978784561157227, 20.062175750732422, 19.995391845703125, 19.87740707397461, 20.024415969848633, 19.961631774902344, 19.97737693786621, 19.945087432861328, 21.308128356933594, 19.99510383605957], "step_mean_ms": 20.212550354003906, "step_p50_ms": 19.995247840881348, "step_p95_ms": 21.15992364883423, "sample_ms": 202.12550354003906, "sample_ms_from_mean": 202.12550354003906, "output_transfer_ms": 0.060074031352996826, "total_ms": 311.84642016887665, "control_frequency_hz": 3.2067066842019933, "prefill_share": 0.3045484730040756, "sample_share": 0.6481572032495369, "other_share": 0.014857155308197634, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.699143469333649, "prefix_embed_ms": 39.95420837402344, "prefill_forward_ms": 55.10758590698242, "prefill_ms": 95.06179428100586, "step_ms": [20.71625518798828, 20.4289608001709, 20.63542366027832, 21.91529655456543, 20.24025535583496, 20.42870330810547, 20.782880783081055, 21.110624313354492, 22.38652801513672, 22.005216598510742], "step_mean_ms": 21.065014457702638, "step_p50_ms": 20.749567985534668, "step_p95_ms": 22.21493787765503, "sample_ms": 210.65014457702637, "sample_ms_from_mean": 210.65014457702637, "output_transfer_ms": 0.08582696318626404, "total_ms": 320.2938735485077, "control_frequency_hz": 3.122132774258489, "prefill_share": 0.29679554350454657, "sample_share": 0.6576777202862232, "other_share": 0.014976759326709579, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.287301614880562, "prefix_embed_ms": 44.774784088134766, "prefill_forward_ms": 55.25913619995117, "prefill_ms": 100.03392028808594, "step_ms": [21.423551559448242, 23.722335815429688, 21.015552520751953, 20.146400451660156, 20.320703506469727, 20.798912048339844, 20.352800369262695, 20.410335540771484, 20.7741756439209, 20.151071548461914], "step_mean_ms": 20.91158390045166, "step_p50_ms": 20.59225559234619, "step_p95_ms": 22.687882900238034, "sample_ms": 209.1158390045166, "sample_ms_from_mean": 209.1158390045166, "output_transfer_ms": 0.06932765245437622, "total_ms": 324.30223003029823, "control_frequency_hz": 3.0835433968695622, "prefill_share": 0.30845893436730354, "sample_share": 0.6448177645432156, "other_share": 0.014788185298364122, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.564744636416435, "prefix_embed_ms": 41.262046813964844, "prefill_forward_ms": 55.19462585449219, "prefill_ms": 96.45667266845703, "step_ms": [21.241376876831055, 20.695903778076172, 20.241344451904297, 20.121536254882812, 20.395679473876953, 20.137760162353516, 22.59270477294922, 20.52684783935547, 20.243776321411133, 20.286815643310547], "step_mean_ms": 20.648374557495117, "step_p50_ms": 20.34124755859375, "step_p95_ms": 21.984607219696045, "sample_ms": 206.48374557495117, "sample_ms_from_mean": 206.48374557495117, "output_transfer_ms": 0.07347576320171356, "total_ms": 319.43873688578606, "control_frequency_hz": 3.130490715525042, "prefill_share": 0.3019567182390428, "sample_share": 0.6463954484292196, "other_share": 0.015214492425498827, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.097607970237732, "prefix_embed_ms": 40.70771026611328, "prefill_forward_ms": 55.09222412109375, "prefill_ms": 95.79993438720703, "step_ms": [22.882688522338867, 20.454240798950195, 20.30179214477539, 20.018367767333984, 20.154207229614258, 20.333343505859375, 20.495872497558594, 20.13145637512207, 20.53398323059082, 20.185440063476562], "step_mean_ms": 20.54913921356201, "step_p50_ms": 20.317567825317383, "step_p95_ms": 21.825771141052243, "sample_ms": 205.49139213562012, "sample_ms_from_mean": 205.49139213562012, "output_transfer_ms": 0.07255002856254578, "total_ms": 316.23008102178574, "control_frequency_hz": 3.1622545102883746, "prefill_share": 0.30294377460127575, "sample_share": 0.6498160816063017, "other_share": 0.015079515790370972, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 64, "actual_token_count": 67, "language_token_count": 67, "image_token_count": 512, "prefix_token_count": 579, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 67, "language_raw_token_count": 67, "prompt_sha256": "e93348bdaccf24b3863dcde0feb6e74d3be0afae37ee439c5fe98ccd74224cb8", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.967156082391739, "prefix_embed_ms": 39.2426872253418, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 94.30009460449219, "step_ms": [20.62656021118164, 20.498111724853516, 20.296384811401367, 20.00912094116211, 20.00761604309082, 22.159584045410156, 20.597087860107422, 21.003328323364258, 20.41244888305664, 20.022048950195312], "step_mean_ms": 20.563229179382326, "step_p50_ms": 20.455280303955078, "step_p95_ms": 21.6392689704895, "sample_ms": 205.63229179382324, "sample_ms_from_mean": 205.63229179382324, "output_transfer_ms": 0.06263889372348785, "total_ms": 316.50308333337307, "control_frequency_hz": 3.1595268819125493, "prefill_share": 0.29794368386978964, "sample_share": 0.6497007537118699, "other_share": 0.01434710180740791, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.077320039272308, "prefix_embed_ms": 39.192352294921875, "prefill_forward_ms": 55.1383056640625, "prefill_ms": 94.33065795898438, "step_ms": [20.580320358276367, 20.129440307617188, 20.162784576416016, 19.918495178222656, 20.08505630493164, 22.03763198852539, 20.641855239868164, 20.193119049072266, 19.8953914642334, 20.161279678344727], "step_mean_ms": 20.38053741455078, "step_p50_ms": 20.16203212738037, "step_p95_ms": 21.409532451629637, "sample_ms": 203.8053741455078, "sample_ms_from_mean": 203.8053741455078, "output_transfer_ms": 0.07481314241886139, "total_ms": 313.18472884595394, "control_frequency_hz": 3.1930037064223193, "prefill_share": 0.30119814049229315, "sample_share": 0.650751315035394, "other_share": 0.015634745595079942, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.215943679213524, "prefix_embed_ms": 40.255775451660156, "prefill_forward_ms": 55.046142578125, "prefill_ms": 95.30191802978516, "step_ms": [20.608064651489258, 19.869535446166992, 19.817983627319336, 19.8308162689209, 20.093536376953125, 22.4333438873291, 20.329280853271484, 19.99612808227539, 20.406431198120117, 20.22960090637207], "step_mean_ms": 20.361472129821777, "step_p50_ms": 20.161568641662598, "step_p95_ms": 21.61196823120117, "sample_ms": 203.61472129821777, "sample_ms_from_mean": 203.61472129821777, "output_transfer_ms": 0.059565529227256775, "total_ms": 313.67040798068047, "control_frequency_hz": 3.1880597421915295, "prefill_share": 0.3038282082243951, "sample_share": 0.6491358958883963, "other_share": 0.014276958649260213, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.831016883254051, "prefix_embed_ms": 38.79209518432617, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 93.84950256347656, "step_ms": [24.242591857910156, 20.157184600830078, 20.3288631439209, 19.963903427124023, 20.1200008392334, 19.90185546875, 19.806175231933594, 19.77948760986328, 20.097152709960938, 20.134559631347656], "step_mean_ms": 20.453177452087402, "step_p50_ms": 20.108576774597168, "step_p95_ms": 22.481413936614985, "sample_ms": 204.53177452087402, "sample_ms_from_mean": 204.53177452087402, "output_transfer_ms": 0.06481632590293884, "total_ms": 313.3126348257065, "control_frequency_hz": 3.1917002024393066, "prefill_share": 0.2995394763306764, "sample_share": 0.6528041061435443, "other_share": 0.016071884668807344, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.580830439925194, "prefix_embed_ms": 38.380001068115234, "prefill_forward_ms": 55.163902282714844, "prefill_ms": 93.54390335083008, "step_ms": [20.724384307861328, 20.295391082763672, 20.09052848815918, 19.949504852294922, 19.935808181762695, 20.88377571105957, 21.782400131225586, 20.176063537597656, 19.923839569091797, 19.925439834594727], "step_mean_ms": 20.368713569641113, "step_p50_ms": 20.133296012878418, "step_p95_ms": 21.37801914215088, "sample_ms": 203.68713569641113, "sample_ms_from_mean": 203.68713569641113, "output_transfer_ms": 0.06194598972797394, "total_ms": 313.34889866411686, "control_frequency_hz": 3.1913308272767034, "prefill_share": 0.29852954246729657, "sample_share": 0.6500330352676499, "other_share": 0.014281470930010786, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.085336863994598, "prefix_embed_ms": 38.40604782104492, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 93.48803329467773, "step_ms": [23.01081657409668, 20.081344604492188, 20.169376373291016, 20.118816375732422, 20.191776275634766, 19.838272094726562, 19.87664031982422, 20.17043113708496, 20.215200424194336, 20.274368286132812], "step_mean_ms": 20.394704246520995, "step_p50_ms": 20.16990375518799, "step_p95_ms": 21.779414844512935, "sample_ms": 203.94704246520996, "sample_ms_from_mean": 203.94704246520996, "output_transfer_ms": 0.06539560854434967, "total_ms": 312.0195399969816, "control_frequency_hz": 3.2049274863031774, "prefill_share": 0.29962236754653926, "sample_share": 0.6536354821469927, "other_share": 0.014209788799117735, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.89312694966793, "prefix_embed_ms": 40.86511993408203, "prefill_forward_ms": 55.08710479736328, "prefill_ms": 95.95222473144531, "step_ms": [20.77801513671875, 20.290624618530273, 20.288320541381836, 20.428447723388672, 20.799264907836914, 20.22211265563965, 22.388320922851562, 20.10736083984375, 20.331743240356445, 20.0579833984375], "step_mean_ms": 20.569219398498536, "step_p50_ms": 20.31118392944336, "step_p95_ms": 21.673245716094968, "sample_ms": 205.69219398498535, "sample_ms_from_mean": 205.69219398498535, "output_transfer_ms": 0.07333420217037201, "total_ms": 317.6023345440626, "control_frequency_hz": 3.1485914655997744, "prefill_share": 0.30211435589474034, "sample_share": 0.6476406865216181, "other_share": 0.01571605159313197, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.059772059321404, "prefix_embed_ms": 39.413631439208984, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.50892639160156, "step_ms": [20.40073585510254, 20.357791900634766, 20.059263229370117, 20.04204750061035, 21.55446434020996, 20.259647369384766, 20.115936279296875, 20.987136840820312, 20.819168090820312, 20.103424072265625], "step_mean_ms": 20.46996154785156, "step_p50_ms": 20.308719635009766, "step_p95_ms": 21.29916696548462, "sample_ms": 204.69961547851562, "sample_ms_from_mean": 204.69961547851562, "output_transfer_ms": 0.06586313247680664, "total_ms": 313.9748089015484, "control_frequency_hz": 3.1849688944744776, "prefill_share": 0.301007990807429, "sample_share": 0.6519619080099586, "other_share": 0.01478026805993894, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.272899642586708, "prefix_embed_ms": 41.40163040161133, "prefill_forward_ms": 55.20383834838867, "prefill_ms": 96.60546875, "step_ms": [21.3973445892334, 20.834272384643555, 20.57423973083496, 21.0567684173584, 21.092992782592773, 20.208703994750977, 22.03209686279297, 20.940832138061523, 20.637216567993164, 20.65577507019043], "step_mean_ms": 20.943024253845216, "step_p50_ms": 20.88755226135254, "step_p95_ms": 21.746458339691163, "sample_ms": 209.43024253845215, "sample_ms_from_mean": 209.43024253845215, "output_transfer_ms": 0.06703101098537445, "total_ms": 321.8515496701002, "control_frequency_hz": 3.1070224798513664, "prefill_share": 0.3001553630828287, "sample_share": 0.6507044715276947, "other_share": 0.017013768408723897, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.759267956018448, "prefix_embed_ms": 40.65766525268555, "prefill_forward_ms": 55.20383834838867, "prefill_ms": 95.86150360107422, "step_ms": [21.120864868164062, 20.57084846496582, 20.607839584350586, 20.22822380065918, 20.548992156982422, 20.840320587158203, 20.796512603759766, 20.61689567565918, 20.549856185913086, 20.542144775390625], "step_mean_ms": 20.642249870300294, "step_p50_ms": 20.589344024658203, "step_p95_ms": 20.994619941711427, "sample_ms": 206.42249870300293, "sample_ms_from_mean": 206.42249870300293, "output_transfer_ms": 0.06628967821598053, "total_ms": 317.6917303353548, "control_frequency_hz": 3.1477054783402822, "prefill_share": 0.301743780047038, "sample_share": 0.6497572300201322, "other_share": 0.014423322861461637, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.926507249474525, "prefix_embed_ms": 41.13993453979492, "prefill_forward_ms": 55.0379524230957, "prefill_ms": 96.17788696289062, "step_ms": [20.91753578186035, 20.125024795532227, 20.063840866088867, 19.991455078125, 20.20809555053711, 20.527551651000977, 21.616287231445312, 20.28998374938965, 20.707040786743164, 20.712064743041992], "step_mean_ms": 20.515888023376466, "step_p50_ms": 20.408767700195312, "step_p95_ms": 21.30184907913208, "sample_ms": 205.15888023376465, "sample_ms_from_mean": 205.15888023376465, "output_transfer_ms": 0.0632796436548233, "total_ms": 315.89129753410816, "control_frequency_hz": 3.165645928856352, "prefill_share": 0.3044651363100811, "sample_share": 0.6494603739807449, "other_share": 0.014450361500796535, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.232985019683838, "prefix_embed_ms": 40.319969177246094, "prefill_forward_ms": 55.06355285644531, "prefill_ms": 95.3835220336914, "step_ms": [23.13862419128418, 20.703359603881836, 19.91187286376953, 19.94313621520996, 20.032032012939453, 20.14579200744629, 19.905439376831055, 20.03945541381836, 20.088768005371094, 19.966943740844727], "step_mean_ms": 20.38754234313965, "step_p50_ms": 20.035743713378906, "step_p95_ms": 22.04275512695312, "sample_ms": 203.87542343139648, "sample_ms_from_mean": 203.87542343139648, "output_transfer_ms": 0.06809830665588379, "total_ms": 314.2846766859293, "control_frequency_hz": 3.181828686478785, "prefill_share": 0.30349402662418057, "sample_share": 0.6486966707420263, "other_share": 0.015033020204237057, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.95471328496933, "prefix_embed_ms": 40.09385681152344, "prefill_forward_ms": 55.20383834838867, "prefill_ms": 95.29769515991211, "step_ms": [20.949472427368164, 20.306079864501953, 20.092479705810547, 20.35647964477539, 20.285823822021484, 22.66326332092285, 20.055583953857422, 20.134111404418945, 20.189472198486328, 20.179359436035156], "step_mean_ms": 20.521212577819824, "step_p50_ms": 20.237648010253906, "step_p95_ms": 21.892057418823242, "sample_ms": 205.21212577819824, "sample_ms_from_mean": 205.21212577819824, "output_transfer_ms": 0.07395632565021515, "total_ms": 315.16964361071587, "control_frequency_hz": 3.172894408686001, "prefill_share": 0.3023695241335481, "sample_share": 0.6511164064762136, "other_share": 0.014694159656144335, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.248199105262756, "prefix_embed_ms": 39.077537536621094, "prefill_forward_ms": 55.07993698120117, "prefill_ms": 94.15747451782227, "step_ms": [21.17184066772461, 20.206880569458008, 20.209503173828125, 20.091007232666016, 20.098751068115234, 20.037599563598633, 20.292959213256836, 20.110912322998047, 20.156736373901367, 22.670623779296875], "step_mean_ms": 20.504681396484376, "step_p50_ms": 20.181808471679688, "step_p95_ms": 21.996171379089354, "sample_ms": 205.04681396484375, "sample_ms_from_mean": 205.04681396484375, "output_transfer_ms": 0.07579103112220764, "total_ms": 314.37112390995026, "control_frequency_hz": 3.1809537325267954, "prefill_share": 0.2995105700127634, "sample_share": 0.6522444282241971, "other_share": 0.015404866804135869, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.0938081741333, "prefix_embed_ms": 38.75471878051758, "prefill_forward_ms": 55.123966217041016, "prefill_ms": 93.8786849975586, "step_ms": [20.544095993041992, 19.970048904418945, 20.24835205078125, 20.47260856628418, 20.42416000366211, 22.39676856994629, 20.50704002380371, 20.505216598510742, 20.11747169494629, 19.970592498779297], "step_mean_ms": 20.51563549041748, "step_p50_ms": 20.448384284973145, "step_p95_ms": 21.563065910339354, "sample_ms": 205.1563549041748, "sample_ms_from_mean": 205.1563549041748, "output_transfer_ms": 0.05731545388698578, "total_ms": 313.6822637170553, "control_frequency_hz": 3.187939248302577, "prefill_share": 0.29927954448275135, "sample_share": 0.6540259958377117, "other_share": 0.014333294251399451, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.782800450921059, "prefix_embed_ms": 45.97545623779297, "prefill_forward_ms": 55.613441467285156, "prefill_ms": 101.58889770507812, "step_ms": [20.748672485351562, 20.299936294555664, 21.100255966186523, 21.129247665405273, 20.230079650878906, 20.032543182373047, 20.24880027770996, 20.450176239013672, 20.382272720336914, 19.876575469970703], "step_mean_ms": 20.449855995178222, "step_p50_ms": 20.34110450744629, "step_p95_ms": 21.116201400756836, "sample_ms": 204.49855995178223, "sample_ms_from_mean": 204.49855995178223, "output_transfer_ms": 0.06060488522052765, "total_ms": 320.7622319459915, "control_frequency_hz": 3.1175740171566564, "prefill_share": 0.31671090791693707, "sample_share": 0.6375393970516291, "other_share": 0.01506215031513767, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.096969082951546, "prefix_embed_ms": 41.18928146362305, "prefill_forward_ms": 55.17619323730469, "prefill_ms": 96.36547470092773, "step_ms": [20.601375579833984, 20.261215209960938, 20.012704849243164, 19.915103912353516, 19.91062355041504, 19.903520584106445, 20.759456634521484, 19.870912551879883, 20.226943969726562, 19.80054473876953], "step_mean_ms": 20.126240158081053, "step_p50_ms": 19.96390438079834, "step_p95_ms": 20.68832015991211, "sample_ms": 201.26240158081055, "sample_ms_from_mean": 201.26240158081055, "output_transfer_ms": 0.06850622594356537, "total_ms": 312.34186328947544, "control_frequency_hz": 3.2016201397672064, "prefill_share": 0.30852564458071746, "sample_share": 0.6443657582790383, "other_share": 0.014562606660979452, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.927107021212578, "prefix_embed_ms": 38.66831970214844, "prefill_forward_ms": 55.07379150390625, "prefill_ms": 93.74211120605469, "step_ms": [21.91062355041504, 21.444927215576172, 23.0578556060791, 21.47551918029785, 20.967199325561523, 20.89580726623535, 20.86515235900879, 20.7271671295166, 20.920671463012695, 20.844959259033203], "step_mean_ms": 21.310988235473634, "step_p50_ms": 20.94393539428711, "step_p95_ms": 22.541601181030273, "sample_ms": 213.10988235473633, "sample_ms_from_mean": 213.10988235473633, "output_transfer_ms": 0.06234273314476013, "total_ms": 321.34448550641537, "control_frequency_hz": 3.111925192754042, "prefill_share": 0.29171843748407256, "sample_share": 0.663182011724554, "other_share": 0.014013130439038183, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.05437970161438, "prefix_embed_ms": 40.83148956298828, "prefill_forward_ms": 56.6005744934082, "prefill_ms": 97.43206405639648, "step_ms": [20.340063095092773, 19.890304565429688, 19.94607925415039, 19.876384735107422, 20.00102424621582, 20.095840454101562, 20.10323143005371, 21.28044891357422, 20.020832061767578, 20.125471115112305], "step_mean_ms": 20.167967987060546, "step_p50_ms": 20.05833625793457, "step_p95_ms": 20.85727529525757, "sample_ms": 201.67967987060547, "sample_ms_from_mean": 201.67967987060547, "output_transfer_ms": 0.06698258221149445, "total_ms": 313.8117045164108, "control_frequency_hz": 3.186624289686763, "prefill_share": 0.31047938191642965, "sample_share": 0.6426773666119219, "other_share": 0.014590272573289445, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.983047842979431, "prefix_embed_ms": 38.55487823486328, "prefill_forward_ms": 55.05740737915039, "prefill_ms": 93.61228561401367, "step_ms": [20.526464462280273, 20.00707244873047, 21.418336868286133, 20.0980167388916, 20.320735931396484, 20.327648162841797, 20.21625518798828, 19.925119400024414, 20.227712631225586, 20.081024169921875], "step_mean_ms": 20.31483860015869, "step_p50_ms": 20.221983909606934, "step_p95_ms": 21.016994285583497, "sample_ms": 203.1483860015869, "sample_ms_from_mean": 203.1483860015869, "output_transfer_ms": 0.06499886512756348, "total_ms": 311.22640147805214, "control_frequency_hz": 3.2130950178097937, "prefill_share": 0.3007851685121748, "sample_share": 0.6527350669377998, "other_share": 0.014194435733486756, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.790951386094093, "prefix_embed_ms": 40.024417877197266, "prefill_forward_ms": 55.15776062011719, "prefill_ms": 95.18217849731445, "step_ms": [20.351455688476562, 20.06550407409668, 20.338815689086914, 19.946048736572266, 20.162527084350586, 20.001184463500977, 19.859296798706055, 19.85990333557129, 19.84783935546875, 19.891807556152344], "step_mean_ms": 20.032438278198242, "step_p50_ms": 19.97361660003662, "step_p95_ms": 20.34576768875122, "sample_ms": 200.32438278198242, "sample_ms_from_mean": 200.32438278198242, "output_transfer_ms": 0.0622384250164032, "total_ms": 309.6518274396658, "control_frequency_hz": 3.22943354886173, "prefill_share": 0.3073845204929729, "sample_share": 0.6469342824111531, "other_share": 0.013860975356571128, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.951502084732056, "prefix_embed_ms": 38.28947067260742, "prefill_forward_ms": 55.02054214477539, "prefill_ms": 93.31001281738281, "step_ms": [19.954496383666992, 19.870464324951172, 19.80419158935547, 19.896095275878906, 20.243743896484375, 20.049888610839844, 20.071903228759766, 20.012928009033203, 20.038175582885742, 20.007007598876953], "step_mean_ms": 19.99488945007324, "step_p50_ms": 20.009967803955078, "step_p95_ms": 20.1664155960083, "sample_ms": 199.94889450073242, "sample_ms_from_mean": 199.94889450073242, "output_transfer_ms": 0.06208941340446472, "total_ms": 307.5455520302057, "control_frequency_hz": 3.2515508463662792, "prefill_share": 0.30340225115080943, "sample_share": 0.6501439971438584, "other_share": 0.013894049794400187, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.042119771242142, "prefix_embed_ms": 38.880767822265625, "prefill_forward_ms": 55.06560134887695, "prefill_ms": 93.94636917114258, "step_ms": [20.424320220947266, 20.158592224121094, 19.959007263183594, 19.872095108032227, 20.05571174621582, 20.12713623046875, 19.839040756225586, 19.8189754486084, 19.83679962158203, 19.911392211914062], "step_mean_ms": 20.000307083129883, "step_p50_ms": 19.935199737548828, "step_p95_ms": 20.30474262237549, "sample_ms": 200.00307083129883, "sample_ms_from_mean": 200.00307083129883, "output_transfer_ms": 0.06520934402942657, "total_ms": 308.38117375969887, "control_frequency_hz": 3.2427401057213503, "prefill_share": 0.3046436590981679, "sample_share": 0.6485579790520807, "other_share": 0.014022920365935233, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.253524407744408, "prefix_embed_ms": 39.44268798828125, "prefill_forward_ms": 55.126014709472656, "prefill_ms": 94.5687026977539, "step_ms": [20.367456436157227, 19.88319969177246, 20.123327255249023, 20.271520614624023, 20.149887084960938, 21.82624053955078, 20.123199462890625, 20.04537582397461, 19.919231414794922, 20.061248779296875], "step_mean_ms": 20.27706871032715, "step_p50_ms": 20.123263359069824, "step_p95_ms": 21.16978769302368, "sample_ms": 202.77068710327148, "sample_ms_from_mean": 202.77068710327148, "output_transfer_ms": 0.06146728992462158, "total_ms": 312.1013883501291, "control_frequency_hz": 3.204086996492806, "prefill_share": 0.3030063505890674, "sample_share": 0.6496949218175037, "other_share": 0.014248596825996362, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.733662009239197, "prefix_embed_ms": 38.60905456542969, "prefill_forward_ms": 55.032833099365234, "prefill_ms": 93.64188766479492, "step_ms": [20.612255096435547, 19.999807357788086, 19.96668815612793, 20.259679794311523, 20.48041534423828, 20.316448211669922, 19.989791870117188, 20.000768661499023, 20.905439376831055, 20.49452781677246], "step_mean_ms": 20.3025821685791, "step_p50_ms": 20.288064002990723, "step_p95_ms": 20.773506450653077, "sample_ms": 203.02582168579102, "sample_ms_from_mean": 203.02582168579102, "output_transfer_ms": 0.06309151649475098, "total_ms": 310.7679132372141, "control_frequency_hz": 3.2178354244592944, "prefill_share": 0.30132418334101496, "sample_share": 0.6533036811004944, "other_share": 0.013847795018687502, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.881023317575455, "prefix_embed_ms": 39.011009216308594, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 94.06534576416016, "step_ms": [20.67888069152832, 20.00249671936035, 19.9564151763916, 20.04604721069336, 19.939456939697266, 20.15331268310547, 19.942720413208008, 19.876224517822266, 19.837631225585938, 19.729312896728516], "step_mean_ms": 20.01624984741211, "step_p50_ms": 19.949567794799805, "step_p95_ms": 20.442375087738036, "sample_ms": 200.1624984741211, "sample_ms_from_mean": 200.1624984741211, "output_transfer_ms": 0.07849372923374176, "total_ms": 308.44770930707455, "control_frequency_hz": 3.2420406111833104, "prefill_share": 0.3049636710724072, "sample_share": 0.6489349488890179, "other_share": 0.01381222130504694, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.799482300877571, "prefix_embed_ms": 38.53385543823242, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.56156921386719, "step_ms": [20.761247634887695, 19.909343719482422, 19.95747184753418, 19.862815856933594, 19.912384033203125, 19.914335250854492, 20.319904327392578, 20.023168563842773, 19.999679565429688, 19.892255783081055], "step_mean_ms": 20.05526065826416, "step_p50_ms": 19.935903549194336, "step_p95_ms": 20.56264314651489, "sample_ms": 200.5526065826416, "sample_ms_from_mean": 200.5526065826416, "output_transfer_ms": 0.06000138819217682, "total_ms": 308.32771211862564, "control_frequency_hz": 3.24330237178052, "prefill_share": 0.30344845933884274, "sample_share": 0.6504527445962471, "other_share": 0.014121509231618892, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.92482341825962, "prefix_embed_ms": 38.669857025146484, "prefill_forward_ms": 55.027713775634766, "prefill_ms": 93.69757080078125, "step_ms": [20.397504806518555, 19.873023986816406, 19.88595199584961, 19.766624450683594, 20.197664260864258, 20.177183151245117, 19.807296752929688, 20.22755241394043, 20.17430305480957, 19.832000732421875], "step_mean_ms": 20.03391056060791, "step_p50_ms": 20.03012752532959, "step_p95_ms": 20.321026229858397, "sample_ms": 200.3391056060791, "sample_ms_from_mean": 200.3391056060791, "output_transfer_ms": 0.06084330379962921, "total_ms": 308.9437298476696, "control_frequency_hz": 3.2368353955364895, "prefill_share": 0.303283613643755, "sample_share": 0.6484647081358796, "other_share": 0.015929718726373183, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 9.987452998757362, "prefix_embed_ms": 39.15999984741211, "prefill_forward_ms": 55.17619323730469, "prefill_ms": 94.3361930847168, "step_ms": [20.788896560668945, 20.48691177368164, 20.240095138549805, 20.168607711791992, 20.275392532348633, 20.301183700561523, 19.96988868713379, 19.903135299682617, 20.049951553344727, 19.75644874572754], "step_mean_ms": 20.19405117034912, "step_p50_ms": 20.2043514251709, "step_p95_ms": 20.653003406524657, "sample_ms": 201.9405117034912, "sample_ms_from_mean": 201.9405117034912, "output_transfer_ms": 0.06980262696743011, "total_ms": 310.8540792018175, "control_frequency_hz": 3.2169434693207433, "prefill_share": 0.30347420026446037, "sample_share": 0.6496312103158353, "other_share": 0.01454096661523972, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.073181241750717, "prefix_embed_ms": 38.33203125, "prefill_forward_ms": 54.98777770996094, "prefill_ms": 93.31980895996094, "step_ms": [20.28041648864746, 19.930368423461914, 19.83260726928711, 19.83580780029297, 20.166336059570312, 19.954143524169922, 19.991968154907227, 19.827072143554688, 20.26038360595703, 20.347551345825195], "step_mean_ms": 20.042665481567383, "step_p50_ms": 19.973055839538574, "step_p95_ms": 20.317340660095216, "sample_ms": 200.42665481567383, "sample_ms_from_mean": 200.42665481567383, "output_transfer_ms": 0.0696815550327301, "total_ms": 308.2871977239847, "control_frequency_hz": 3.243728599120482, "prefill_share": 0.3027041331878851, "sample_share": 0.6501296722516501, "other_share": 0.014265500429583201, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 128, "actual_token_count": 132, "language_token_count": 132, "image_token_count": 512, "prefix_token_count": 644, "prompt_truncated": false, "truncated": false, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 132, "language_raw_token_count": 132, "prompt_sha256": "fbfd449fb325e370511411fb57168e2f3f62faf08ea09deac1ccfe26cf2210f6", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.115163400769234, "prefix_embed_ms": 39.059326171875, "prefill_forward_ms": 55.05331039428711, "prefill_ms": 94.11263656616211, "step_ms": [21.07788848876953, 20.01625633239746, 20.040159225463867, 20.11030387878418, 20.424192428588867, 20.178367614746094, 20.09814453125, 19.925119400024414, 20.17411231994629, 20.361248016357422], "step_mean_ms": 20.240579223632814, "step_p50_ms": 20.142208099365234, "step_p95_ms": 20.783725261688232, "sample_ms": 202.40579223632812, "sample_ms_from_mean": 202.40579223632812, "output_transfer_ms": 0.0685621052980423, "total_ms": 311.2724535167217, "control_frequency_hz": 3.2126196478426237, "prefill_share": 0.30234810534272455, "sample_share": 0.6502528249755797, "other_share": 0.014682633032667942, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.96251979470253, "prefix_embed_ms": 39.127872467041016, "prefill_forward_ms": 55.08915328979492, "prefill_ms": 94.21702575683594, "step_ms": [20.696191787719727, 20.49363136291504, 20.32524871826172, 20.56515121459961, 20.471071243286133, 20.33033561706543, 20.995264053344727, 20.452064514160156, 20.57209587097168, 20.373472213745117], "step_mean_ms": 20.527452659606933, "step_p50_ms": 20.482351303100586, "step_p95_ms": 20.860681533813477, "sample_ms": 205.27452659606934, "sample_ms_from_mean": 205.27452659606934, "output_transfer_ms": 0.06597675383090973, "total_ms": 315.21187722682953, "control_frequency_hz": 3.1724692889043338, "prefill_share": 0.2989006207054706, "sample_share": 0.6512271314204058, "other_share": 0.014884681271113812, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.06942631304264, "prefix_embed_ms": 39.343360900878906, "prefill_forward_ms": 55.2806396484375, "prefill_ms": 94.6240005493164, "step_ms": [21.76652717590332, 20.822240829467773, 20.72870445251465, 20.53740882873535, 20.869728088378906, 20.62099266052246, 20.703615188598633, 21.20368003845215, 20.80847930908203, 20.368160247802734], "step_mean_ms": 20.8429536819458, "step_p50_ms": 20.76859188079834, "step_p95_ms": 21.51324596405029, "sample_ms": 208.429536819458, "sample_ms_from_mean": 208.429536819458, "output_transfer_ms": 0.06655789911746979, "total_ms": 319.55160200595856, "control_frequency_hz": 3.129385031157983, "prefill_share": 0.2961149309073155, "sample_share": 0.6522562725740035, "other_share": 0.016780014217935443, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.098608374595642, "prefix_embed_ms": 40.40118408203125, "prefill_forward_ms": 55.14342498779297, "prefill_ms": 95.54460906982422, "step_ms": [20.823200225830078, 20.600799560546875, 20.443391799926758, 20.230976104736328, 20.527231216430664, 20.2956485748291, 20.026912689208984, 20.068992614746094, 20.491872787475586, 20.492191314697266], "step_mean_ms": 20.400121688842773, "step_p50_ms": 20.467632293701172, "step_p95_ms": 20.723119926452636, "sample_ms": 204.00121688842773, "sample_ms_from_mean": 204.00121688842773, "output_transfer_ms": 0.07136352360248566, "total_ms": 315.366143360734, "control_frequency_hz": 3.170917427417509, "prefill_share": 0.3029640659952986, "sample_share": 0.6468710138458946, "other_share": 0.014745861603046499, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.524761095643044, "prefix_embed_ms": 42.66534423828125, "prefill_forward_ms": 55.08607864379883, "prefill_ms": 97.75142288208008, "step_ms": [20.620607376098633, 20.277952194213867, 20.10028839111328, 20.13158416748047, 20.30851173400879, 20.297983169555664, 20.237632751464844, 20.210752487182617, 20.94816017150879, 20.732704162597656], "step_mean_ms": 20.38661766052246, "step_p50_ms": 20.287967681884766, "step_p95_ms": 20.85120496749878, "sample_ms": 203.8661766052246, "sample_ms_from_mean": 203.8661766052246, "output_transfer_ms": 0.06874091923236847, "total_ms": 318.0070761591196, "control_frequency_hz": 3.1445841145359767, "prefill_share": 0.30738757156827756, "sample_share": 0.6410743404439753, "other_share": 0.015081345719929102, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.471180245280266, "prefix_embed_ms": 40.384159088134766, "prefill_forward_ms": 55.06047821044922, "prefill_ms": 95.44463729858398, "step_ms": [20.721759796142578, 20.686559677124023, 20.74233627319336, 20.925216674804688, 20.989919662475586, 20.933727264404297, 21.659072875976562, 21.255840301513672, 21.05219268798828, 21.20368003845215], "step_mean_ms": 21.01703052520752, "step_p50_ms": 20.96182346343994, "step_p95_ms": 21.47761821746826, "sample_ms": 210.1703052520752, "sample_ms_from_mean": 210.1703052520752, "output_transfer_ms": 0.07268041372299194, "total_ms": 322.07232527434826, "control_frequency_hz": 3.104892663932482, "prefill_share": 0.29634535416006996, "sample_share": 0.6525562389536187, "other_share": 0.015255958612713389, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.446233838796616, "prefix_embed_ms": 40.38966369628906, "prefill_forward_ms": 55.133182525634766, "prefill_ms": 95.52284622192383, "step_ms": [21.482688903808594, 20.699071884155273, 20.676448822021484, 20.600576400756836, 20.5183048248291, 20.5598087310791, 20.38649559020996, 20.017536163330078, 20.07619285583496, 19.960351943969727], "step_mean_ms": 20.49774761199951, "step_p50_ms": 20.5390567779541, "step_p95_ms": 21.130061244964597, "sample_ms": 204.97747611999512, "sample_ms_from_mean": 204.97747611999512, "output_transfer_ms": 0.06591528654098511, "total_ms": 316.7319241911173, "control_frequency_hz": 3.157244103365457, "prefill_share": 0.3015889429708543, "sample_share": 0.6471639278025884, "other_share": 0.014900464283521368, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.73988527059555, "prefix_embed_ms": 37.99248123168945, "prefill_forward_ms": 54.972415924072266, "prefill_ms": 92.96489715576172, "step_ms": [21.351232528686523, 20.1744327545166, 20.15648078918457, 20.167648315429688, 20.285600662231445, 20.033151626586914, 19.96361541748047, 19.989055633544922, 20.078752517700195, 20.265087127685547], "step_mean_ms": 20.246505737304688, "step_p50_ms": 20.16206455230713, "step_p95_ms": 20.871698188781735, "sample_ms": 202.46505737304688, "sample_ms_from_mean": 202.46505737304688, "output_transfer_ms": 0.07228739559650421, "total_ms": 310.7635211199522, "control_frequency_hz": 3.2178809031257183, "prefill_share": 0.299149967218572, "sample_share": 0.6515084416709804, "other_share": 0.01454930716661024, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.767990723252296, "prefix_embed_ms": 39.42393493652344, "prefill_forward_ms": 55.09529495239258, "prefill_ms": 94.51922988891602, "step_ms": [20.442848205566406, 20.227615356445312, 20.190752029418945, 19.914783477783203, 20.02720069885254, 20.401376724243164, 20.224960327148438, 19.944223403930664, 19.883968353271484, 20.14371109008789], "step_mean_ms": 20.140143966674806, "step_p50_ms": 20.167231559753418, "step_p95_ms": 20.424186038970948, "sample_ms": 201.40143966674805, "sample_ms_from_mean": 201.40143966674805, "output_transfer_ms": 0.06240420043468475, "total_ms": 311.13018095493317, "control_frequency_hz": 3.2140887037405377, "prefill_share": 0.3037931890722199, "sample_share": 0.6473220921499763, "other_share": 0.014074868796532577, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.81801950931549, "prefix_embed_ms": 40.429439544677734, "prefill_forward_ms": 55.16697692871094, "prefill_ms": 95.59641647338867, "step_ms": [20.594463348388672, 21.028032302856445, 20.332223892211914, 20.2227840423584, 20.690048217773438, 20.504159927368164, 20.428863525390625, 20.214527130126953, 20.09644889831543, 20.465280532836914], "step_mean_ms": 20.457683181762697, "step_p50_ms": 20.44707202911377, "step_p95_ms": 20.875939464569093, "sample_ms": 204.57683181762695, "sample_ms_from_mean": 204.57683181762695, "output_transfer_ms": 0.07485225796699524, "total_ms": 315.8936705440283, "control_frequency_hz": 3.16562214835711, "prefill_share": 0.3026221332917297, "sample_share": 0.6476129498426074, "other_share": 0.015282200739939555, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.915638878941536, "prefix_embed_ms": 39.295040130615234, "prefill_forward_ms": 55.08198547363281, "prefill_ms": 94.37702560424805, "step_ms": [20.775615692138672, 20.213695526123047, 20.254207611083984, 20.358367919921875, 20.535871505737305, 20.173664093017578, 20.332735061645508, 20.367231369018555, 21.226816177368164, 23.39276885986328], "step_mean_ms": 20.7630973815918, "step_p50_ms": 20.362799644470215, "step_p95_ms": 22.418090152740476, "sample_ms": 207.63097381591797, "sample_ms_from_mean": 207.63097381591797, "output_transfer_ms": 0.07011368870735168, "total_ms": 317.69287399947643, "control_frequency_hz": 3.1476941469000277, "prefill_share": 0.29707001109632564, "sample_share": 0.6535588009955179, "other_share": 0.014791398851676081, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.989908128976822, "prefix_embed_ms": 39.9285774230957, "prefill_forward_ms": 55.11065673828125, "prefill_ms": 95.03923416137695, "step_ms": [21.06275177001953, 21.430368423461914, 20.407520294189453, 20.27084732055664, 20.471839904785156, 20.65247917175293, 20.999967575073242, 20.852447509765625, 21.148479461669922, 20.894399642944336], "step_mean_ms": 20.819110107421874, "step_p50_ms": 20.87342357635498, "step_p95_ms": 21.30351839065552, "sample_ms": 208.19110107421875, "sample_ms_from_mean": 208.19110107421875, "output_transfer_ms": 0.07177889347076416, "total_ms": 319.0693259239197, "control_frequency_hz": 3.1341151240544023, "prefill_share": 0.2978639011637193, "sample_share": 0.6524948785702477, "other_share": 0.014972619671423729, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.180145666003227, "prefix_embed_ms": 43.82489776611328, "prefill_forward_ms": 55.36665725708008, "prefill_ms": 99.19155502319336, "step_ms": [20.97974395751953, 20.626047134399414, 20.546688079833984, 20.44915199279785, 20.262943267822266, 20.323680877685547, 20.314464569091797, 20.012224197387695, 20.545183181762695, 20.252832412719727], "step_mean_ms": 20.431295967102052, "step_p50_ms": 20.3864164352417, "step_p95_ms": 20.820580387115477, "sample_ms": 204.3129596710205, "sample_ms_from_mean": 204.3129596710205, "output_transfer_ms": 0.07241219282150269, "total_ms": 319.4107450544834, "control_frequency_hz": 3.130765058731588, "prefill_share": 0.3105454545878655, "sample_share": 0.6396558751840671, "other_share": 0.014569555262303456, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.615618899464607, "prefix_embed_ms": 38.9637451171875, "prefill_forward_ms": 55.08915328979492, "prefill_ms": 94.05289840698242, "step_ms": [20.88707160949707, 20.028703689575195, 20.221792221069336, 20.217632293701172, 20.04025650024414, 19.8319034576416, 19.94380760192871, 19.88515281677246, 20.298431396484375, 20.240671157836914], "step_mean_ms": 20.159542274475097, "step_p50_ms": 20.128944396972656, "step_p95_ms": 20.622183513641357, "sample_ms": 201.59542274475098, "sample_ms_from_mean": 201.59542274475098, "output_transfer_ms": 0.06887875497341156, "total_ms": 310.81083603203297, "control_frequency_hz": 3.2173910432676722, "prefill_share": 0.30260495292798956, "sample_share": 0.6486113075027218, "other_share": 0.014407532514085298, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.791860520839691, "prefix_embed_ms": 38.76838302612305, "prefill_forward_ms": 55.07583999633789, "prefill_ms": 93.84422302246094, "step_ms": [20.59836769104004, 20.095808029174805, 20.001407623291016, 19.937183380126953, 19.950176239013672, 19.929887771606445, 20.263200759887695, 20.287776947021484, 20.013216018676758, 20.037216186523438], "step_mean_ms": 20.111424064636232, "step_p50_ms": 20.025216102600098, "step_p95_ms": 20.458601856231688, "sample_ms": 201.1142406463623, "sample_ms_from_mean": 201.1142406463623, "output_transfer_ms": 0.06156228482723236, "total_ms": 310.189351439476, "control_frequency_hz": 3.2238372960237465, "prefill_share": 0.3025385061961799, "sample_share": 0.6483595897572377, "other_share": 0.01411223481615866, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.615101084113121, "prefix_embed_ms": 38.468318939208984, "prefill_forward_ms": 55.067649841308594, "prefill_ms": 93.53596878051758, "step_ms": [20.375328063964844, 20.069215774536133, 20.215328216552734, 20.231359481811523, 20.833728790283203, 20.237279891967773, 20.2379207611084, 20.6279354095459, 20.19366455078125, 21.058656692504883], "step_mean_ms": 20.408041763305665, "step_p50_ms": 20.237600326538086, "step_p95_ms": 20.957439136505126, "sample_ms": 204.08041763305664, "sample_ms_from_mean": 204.08041763305664, "output_transfer_ms": 0.0673290342092514, "total_ms": 312.7804156392813, "control_frequency_hz": 3.1971311181876074, "prefill_share": 0.2990467564580173, "sample_share": 0.6524718538273683, "other_share": 0.014328259965461372, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.81893965601921, "prefix_embed_ms": 38.9917106628418, "prefill_forward_ms": 55.08915328979492, "prefill_ms": 94.08086395263672, "step_ms": [20.371967315673828, 20.057504653930664, 20.76710319519043, 20.55036735534668, 20.80633544921875, 20.582496643066406, 20.550559997558594, 20.152448654174805, 20.126144409179688, 19.97702407836914], "step_mean_ms": 20.3941951751709, "step_p50_ms": 20.461167335510254, "step_p95_ms": 20.788680934906004, "sample_ms": 203.94195175170898, "sample_ms_from_mean": 203.94195175170898, "output_transfer_ms": 0.07061660289764404, "total_ms": 313.46768885850906, "control_frequency_hz": 3.190121456031066, "prefill_share": 0.30012938269724604, "sample_share": 0.6505995960679792, "other_share": 0.014532014166546696, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.664740577340126, "prefix_embed_ms": 40.4381103515625, "prefill_forward_ms": 55.08915328979492, "prefill_ms": 95.52726364135742, "step_ms": [20.557504653930664, 20.129568099975586, 20.327392578125, 20.261823654174805, 20.194303512573242, 20.158048629760742, 19.973087310791016, 20.08380889892578, 20.343904495239258, 19.867679595947266], "step_mean_ms": 20.189712142944337, "step_p50_ms": 20.176176071166992, "step_p95_ms": 20.461384582519532, "sample_ms": 201.89712142944336, "sample_ms_from_mean": 201.89712142944336, "output_transfer_ms": 0.07341615855693817, "total_ms": 312.6957081258297, "control_frequency_hz": 3.1979972030751282, "prefill_share": 0.30549592194248143, "sample_share": 0.6456664296402794, "other_share": 0.014497053209658033, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.858850553631783, "prefix_embed_ms": 39.09235382080078, "prefill_forward_ms": 55.1096305847168, "prefill_ms": 94.20198440551758, "step_ms": [20.817983627319336, 20.65660858154297, 20.662944793701172, 20.760160446166992, 20.500255584716797, 21.35385513305664, 21.375200271606445, 21.31875228881836, 20.761247634887695, 20.764896392822266], "step_mean_ms": 20.897190475463866, "step_p50_ms": 20.76307201385498, "step_p95_ms": 21.365594959259035, "sample_ms": 208.97190475463867, "sample_ms_from_mean": 208.97190475463867, "output_transfer_ms": 0.06980635225772858, "total_ms": 318.90371441841125, "control_frequency_hz": 3.1357427172766323, "prefill_share": 0.2953931865526086, "sample_share": 0.6552821284497843, "other_share": 0.015055228695349145, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 13.303132727742195, "prefix_embed_ms": 40.82291030883789, "prefill_forward_ms": 55.195648193359375, "prefill_ms": 96.01855850219727, "step_ms": [20.667776107788086, 20.143775939941406, 20.20364761352539, 19.951040267944336, 20.144607543945312, 20.086240768432617, 20.097631454467773, 20.001567840576172, 20.05251121520996, 20.119903564453125], "step_mean_ms": 20.14687023162842, "step_p50_ms": 20.10876750946045, "step_p95_ms": 20.458918285369872, "sample_ms": 201.46870231628418, "sample_ms_from_mean": 201.46870231628418, "output_transfer_ms": 0.06363168358802795, "total_ms": 315.3841570019722, "control_frequency_hz": 3.170736315691808, "prefill_share": 0.30444953042329526, "sample_share": 0.6388041309095445, "other_share": 0.01436385332485868, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.395944118499756, "prefix_embed_ms": 38.80739212036133, "prefill_forward_ms": 55.13216018676758, "prefill_ms": 93.9395523071289, "step_ms": [20.382112503051758, 19.935903549194336, 20.045568466186523, 19.988927841186523, 19.941375732421875, 19.959583282470703, 20.035104751586914, 20.00864028930664, 19.984928131103516, 20.0883846282959], "step_mean_ms": 20.03705291748047, "step_p50_ms": 19.998784065246582, "step_p95_ms": 20.249934959411622, "sample_ms": 200.3705291748047, "sample_ms_from_mean": 200.3705291748047, "output_transfer_ms": 0.06185472011566162, "total_ms": 309.0520519763231, "control_frequency_hz": 3.235700891177423, "prefill_share": 0.30396029311698514, "sample_share": 0.6483390998166073, "other_share": 0.013862298044545364, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.550599545240402, "prefix_embed_ms": 38.87654495239258, "prefill_forward_ms": 55.07993698120117, "prefill_ms": 93.95648193359375, "step_ms": [20.744672775268555, 20.18217658996582, 20.33344078063965, 20.254783630371094, 20.243776321411133, 20.43894386291504, 20.69584083557129, 20.346527099609375, 20.23891258239746, 20.38483238220215], "step_mean_ms": 20.386390686035156, "step_p50_ms": 20.33998394012451, "step_p95_ms": 20.722698402404784, "sample_ms": 203.86390686035156, "sample_ms_from_mean": 203.86390686035156, "output_transfer_ms": 0.06822869181632996, "total_ms": 313.5446384549141, "control_frequency_hz": 3.1893385418031768, "prefill_share": 0.2996590290830444, "sample_share": 0.6501910154322923, "other_share": 0.01628291731943035, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.748669505119324, "prefix_embed_ms": 39.4648323059082, "prefill_forward_ms": 55.13420867919922, "prefill_ms": 94.59904098510742, "step_ms": [20.789920806884766, 20.194047927856445, 20.335647583007812, 20.269855499267578, 20.063199996948242, 20.181663513183594, 20.05615997314453, 20.119647979736328, 20.115007400512695, 20.099231719970703], "step_mean_ms": 20.222438240051268, "step_p50_ms": 20.15065574645996, "step_p95_ms": 20.585497856140137, "sample_ms": 202.2243824005127, "sample_ms_from_mean": 202.2243824005127, "output_transfer_ms": 0.07368065416812897, "total_ms": 312.1982794255018, "control_frequency_hz": 3.203092604610669, "prefill_share": 0.30300948858265914, "sample_share": 0.6477434237390421, "other_share": 0.014582097918578034, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.72327047586441, "prefix_embed_ms": 38.94268798828125, "prefill_forward_ms": 55.11577606201172, "prefill_ms": 94.05846405029297, "step_ms": [20.603424072265625, 20.035295486450195, 20.301952362060547, 20.81011199951172, 20.659839630126953, 20.240095138549805, 20.39356803894043, 20.089344024658203, 20.278432846069336, 20.134368896484375], "step_mean_ms": 20.354643249511717, "step_p50_ms": 20.29019260406494, "step_p95_ms": 20.742489433288576, "sample_ms": 203.5464324951172, "sample_ms_from_mean": 203.5464324951172, "output_transfer_ms": 0.06737560033798218, "total_ms": 312.98224814236164, "control_frequency_hz": 3.195069387913479, "prefill_share": 0.3005233191612515, "sample_share": 0.6503449754841464, "other_share": 0.014654842400719176, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.264162138104439, "prefix_embed_ms": 40.652191162109375, "prefill_forward_ms": 55.07686233520508, "prefill_ms": 95.72905349731445, "step_ms": [21.087039947509766, 20.42188835144043, 20.34992027282715, 20.40220832824707, 20.307167053222656, 20.460063934326172, 20.489280700683594, 22.131200790405273, 20.911264419555664, 21.886079788208008], "step_mean_ms": 20.844611358642577, "step_p50_ms": 20.474672317504883, "step_p95_ms": 22.020896339416502, "sample_ms": 208.44611358642578, "sample_ms_from_mean": 208.44611358642578, "output_transfer_ms": 0.09410083293914795, "total_ms": 320.2164638787508, "control_frequency_hz": 3.12288752391772, "prefill_share": 0.29895106684321526, "sample_share": 0.6509537675281849, "other_share": 0.014624587902951172, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.4680677652359, "prefix_embed_ms": 40.351070404052734, "prefill_forward_ms": 55.11167907714844, "prefill_ms": 95.46274948120117, "step_ms": [21.3985595703125, 20.56399917602539, 23.86515235900879, 20.733888626098633, 20.18707275390625, 20.134624481201172, 20.42630386352539, 22.281503677368164, 29.52560043334961, 29.492416381835938], "step_mean_ms": 22.860912132263184, "step_p50_ms": 21.066224098205566, "step_p95_ms": 29.510667610168458, "sample_ms": 228.60912132263184, "sample_ms_from_mean": 228.60912132263184, "output_transfer_ms": 0.10243244469165802, "total_ms": 340.9876096993685, "control_frequency_hz": 2.9326578783365456, "prefill_share": 0.2799595843537126, "sample_share": 0.6704323407064114, "other_share": 0.01567575634293732, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 16.449064016342163, "prefix_embed_ms": 45.57766342163086, "prefill_forward_ms": 55.030784606933594, "prefill_ms": 100.60844802856445, "step_ms": [21.55843162536621, 21.16547203063965, 22.18796730041504, 22.579744338989258, 21.27846336364746, 20.740224838256836, 20.244192123413086, 20.767423629760742, 20.222015380859375, 20.439712524414062], "step_mean_ms": 21.11836471557617, "step_p50_ms": 20.966447830200195, "step_p95_ms": 22.403444671630858, "sample_ms": 211.18364715576172, "sample_ms_from_mean": 211.18364715576172, "output_transfer_ms": 0.060519203543663025, "total_ms": 333.5466403514147, "control_frequency_hz": 2.9980814645484966, "prefill_share": 0.3016323232114298, "sample_share": 0.6331457781534391, "other_share": 0.015724823196170554, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.800478979945183, "prefix_embed_ms": 38.86540985107422, "prefill_forward_ms": 55.051265716552734, "prefill_ms": 93.91667556762695, "step_ms": [20.902143478393555, 20.821727752685547, 20.3986873626709, 20.161535263061523, 19.966527938842773, 20.13750457763672, 19.981887817382812, 20.10758399963379, 20.102880477905273, 21.538368225097656], "step_mean_ms": 20.411884689331053, "step_p50_ms": 20.14951992034912, "step_p95_ms": 21.25206708908081, "sample_ms": 204.11884689331055, "sample_ms_from_mean": 204.11884689331055, "output_transfer_ms": 0.06457418203353882, "total_ms": 313.4118039160967, "control_frequency_hz": 3.190690291510876, "prefill_share": 0.299659024944604, "sample_share": 0.6512800230968808, "other_share": 0.014393932317840091, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.600825771689415, "prefix_embed_ms": 39.59619140625, "prefill_forward_ms": 55.116798400878906, "prefill_ms": 94.7129898071289, "step_ms": [20.977088928222656, 20.728544235229492, 20.7357120513916, 20.853343963623047, 20.67670440673828, 27.641632080078125, 29.14143943786621, 29.13417625427246, 26.96188735961914, 20.788768768310547], "step_mean_ms": 23.763929748535155, "step_p50_ms": 20.91521644592285, "step_p95_ms": 29.138171005249024, "sample_ms": 237.63929748535156, "sample_ms_from_mean": 237.63929748535156, "output_transfer_ms": 0.06811507046222687, "total_ms": 347.91459515690804, "control_frequency_hz": 2.8742686105163373, "prefill_share": 0.2722305736107844, "sample_share": 0.6830391733872999, "other_share": 0.014064851231863488, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 11.042803525924683, "prefix_embed_ms": 39.67689514160156, "prefill_forward_ms": 55.05433654785156, "prefill_ms": 94.73123168945312, "step_ms": [21.405216217041016, 21.393247604370117, 20.29363250732422, 20.245248794555664, 20.21392059326172, 20.179584503173828, 20.366912841796875, 20.179840087890625, 20.270463943481445, 20.41302490234375], "step_mean_ms": 20.496109199523925, "step_p50_ms": 20.282048225402832, "step_p95_ms": 21.39983034133911, "sample_ms": 204.96109199523926, "sample_ms_from_mean": 204.96109199523926, "output_transfer_ms": 0.06602145731449127, "total_ms": 315.58614782989025, "control_frequency_hz": 3.1687068867770076, "prefill_share": 0.30017550624723843, "sample_share": 0.6494616237266504, "other_share": 0.015162259797720725, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
{"backend": "pytorch", "mode": "profile", "config_name": "pi0_droid", "checkpoint": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_droid_pytorch", "device": "cuda:0", "sample_index": 5974, "prompt_target_tokens": 256, "actual_token_count": 256, "language_token_count": 256, "image_token_count": 512, "prefix_token_count": 768, "prompt_truncated": true, "truncated": true, "num_steps": 10, "action_horizon": 10, "chunk_size": 1, "prompt_target_raw_token_count": 257, "language_raw_token_count": 257, "prompt_sha256": "01d2adc872bc9441c2e6c1e25a5d448ee1376bcc8e3a1d66190f779cb183f7b5", "cold_start": false, "oom": false, "error": null, "preprocess_ms": 10.875549167394638, "prefix_embed_ms": 39.4771842956543, "prefill_forward_ms": 55.06662368774414, "prefill_ms": 94.54380798339844, "step_ms": [21.195520401000977, 20.72483253479004, 20.666879653930664, 20.43926429748535, 20.290687561035156, 20.677440643310547, 20.282207489013672, 20.37673568725586, 20.256128311157227, 20.199520111083984], "step_mean_ms": 20.510921669006347, "step_p50_ms": 20.407999992370605, "step_p95_ms": 20.983710861206053, "sample_ms": 205.10921669006348, "sample_ms_from_mean": 205.10921669006348, "output_transfer_ms": 0.06532296538352966, "total_ms": 315.2722865343094, "control_frequency_hz": 3.1718614122182776, "prefill_share": 0.2998798563067158, "sample_share": 0.6505780097095294, "other_share": 0.01483920384978139, "kv_cache_theoretical_bytes": 18874368, "kv_cache_allocated_delta_bytes": 28319744, "peak_allocated_bytes": 7193205248, "peak_reserved_bytes": 7256145920, "actions_shape": [1, 10, 32]}
