Models — what we serve and what we've measured
Every latency below was measured by us, on the listed GPU, chunk-level (one full policy
inference producing an action chunk), p50 over ≥15 runs after warm-up, with the sampling
path torch.compile'd unless noted. Full logs and methodology are shared with design partners.
Serving today
| Policy | Params | Chunk | H100 p50 | L4 p50 | Status |
|---|---|---|---|---|---|
SmolVLA (lerobot/smolvla_base) |
450 M | 50 actions | 22.7 ms (p95 22.8) | 48.3 ms | ✅ Serving |
| SmolVLA, reduced denoise (steps=1) | 450 M | 50 actions | 12.5 ms | 29.4 ms | ✅ Opt-in (quality A/B first) |
SmolVLA is a flow-matching policy: latency ≈ fixed cost (vision/prefix) + per-denoise-step
cost. Measured decomposition — H100: 26.6 ms fixed + 14.0 ms/step (eager); L4: 54.9 + 27.3.
Compiling the sampling path (sample_actions, mode="reduce-overhead") is worth 6.8× —
this is the core of why our numbers beat naive serving.
Benchmarking / integrating
| Policy | Params | State | Blocker |
|---|---|---|---|
| π0 (Physical Intelligence, open weights) | ~3.3 B | Benchmarking | none — same lerobot path as SmolVLA |
| GR00T N1.7 (NVIDIA) | ~3 B | Integrating | pip lerobot wraps N1.5 only; needs Isaac-GR00T native install (productization in progress) |
| OpenVLA | 7 B | On request | autoregressive (no chunking) — different latency profile; best for ≤5 Hz replan |
Your own checkpoint
Fine-tuned a SmolVLA/π0 variant on your task data? That's the expected case — base checkpoints are demos; your fleet runs your weights. We deploy safetensors checkpoints during onboarding, re-run the latency harness on them, and hand you the measured p50/p95 before anything touches a robot. Same architecture ⇒ same latency as the table above; new architectures get benchmarked first.
Choosing a tier
- H100 — you have a hard sub-30 ms deadline (high-rate visual servoing, humanoid balance-adjacent stacks): 22.7 ms full quality clears it with margin.
- L4 — replan at ≤10 Hz (pick-and-place, kitting, most warehouse manipulation): 48.3 ms is far inside your budget at a fraction of the cost.
- Undecided? We run your policy on both during onboarding and show you the numbers.