Table 6.

Performance under different resource constraints.

Configuration	Hardware	Model size (MB)	Parameters (M)	Inference speed (FPS)	Joint position error (mm)	Accuracy retention (%)
Full model	A100 40GB	856	216.7	21.7 ± 1.1	43.8 ± 3.2	100.0
Full model	RTX 3090 24GB	856	216.7	18.3 ± 0.9	44.2 ± 3.4	99.1
Distilled model	RTX 3090 24GB	342	86.8	28.5 ± 1.3	47.6 ± 3.7	94.6
INT8 quantized	RTX 3090 24GB	214	216.7	31.2 ± 1.5	48.9 ± 3.9	93.2
Distilled + pruned	Jetson Xavier	256	60.7	12.4 ± 0.7	52.3 ± 4.1	89.4