Nowadays, if you’re running a 2–3B parameter foundation model on a standard computer, you’ll probably get a rollout frequency of 1 to 10 Hz. ACT would be faster, but I still don’t think it’s fast enough.
I need to ship the current orders before taking the next batch, so it will probably be sometime in late July. You can sign up for an email notification for the next batch here: https://vassarrobotics.com/newsletter