{
  "benchmark": "Anti-UAV410 / test",
  "sequences": 120,
  "frames": 129691,
  "frames_under_32px": 64053,
  "sequences_with_absence": 31,
  "contradictory_label_frames": 49,
  "sequences_out_of_view_30": 12,
  "longest_absence": 253,
  "size_buckets": {
    "tiny (<16px)": 26,
    "small (16-32px)": 25,
    "medium (32-64px)": 68,
    "large (>=64px)": 1
  },
  "reference": "UETrack-B",
  "orin": {
    "device": "Jetson Orin NX 16GB (orin-node01)",
    "software": "JetPack 6.2 / L4T R36.4.7, TensorRT 10.3.0.30",
    "power_mode": "MAXN",
    "date": "2026-09-25",
    "method": "trtexec --loadEngine=<plan> --duration=25 --warmUp=2000; fp16, static shapes, batch 1; value = mean GPU compute time. Engine-only: excludes crop/resize, pre/post-processing, and host-side memory-bank marshalling.",
    "notes": {
      "EfficientTAM-Ti": "the 7-slot memory bank, stride 5, that the Anti-UAV410 accuracy runs used: image_encoder + memory_attention(7) + decoder_track + memory_encoder",
      "SAM 2.1-tiny": "no static TensorRT export of the SAM 2 video predictor in this setup; not measured",
      "UETrack-B": "engine built for this measurement; timed, not yet validated output-for-output against PyTorch (UETrack-T's engine was: 0.17 px box shift)"
    },
    "efficienttam_4slot_ms": 23.22
  },
  "resamples": 10000,
  "models": [
    {
      "label": "UETrack-B",
      "family": "crop",
      "lost": 26.6,
      "ends_lost": 27,
      "accuracy": 73.3,
      "auc": 54.8,
      "precision": 72.7,
      "by_size": {
        "tiny (<16px)": 50.1,
        "small (16-32px)": 30.2,
        "medium (32-64px)": 16.6,
        "large (>=64px)": 0.0
      },
      "orin_ms": 3.89
    },
    {
      "label": "EfficientTAM-Ti",
      "family": "full-frame",
      "lost": 27.4,
      "ends_lost": 38,
      "accuracy": 68.1,
      "auc": 49.6,
      "precision": 72.2,
      "by_size": {
        "tiny (<16px)": 47.9,
        "small (16-32px)": 33.6,
        "medium (32-64px)": 17.7,
        "large (>=64px)": 0.0
      },
      "orin_ms": 29.9,
      "vs_reference": {
        "lost": [
          0.9,
          -3.0,
          4.7
        ],
        "accuracy": [
          -5.2,
          -6.9,
          -3.5
        ],
        "ends_lost_pts": [
          9.2,
          0.8,
          17.5
        ]
      }
    },
    {
      "label": "SAM 2.1-tiny",
      "family": "full-frame",
      "lost": 29.4,
      "ends_lost": 46,
      "accuracy": 67.9,
      "auc": 48.2,
      "precision": 70.2,
      "by_size": {
        "tiny (<16px)": 53.2,
        "small (16-32px)": 30.4,
        "medium (32-64px)": 20.4,
        "large (>=64px)": 0.0
      },
      "orin_ms": null,
      "vs_reference": {
        "lost": [
          2.9,
          -1.1,
          7.0
        ],
        "accuracy": [
          -5.5,
          -7.1,
          -3.8
        ],
        "ends_lost_pts": [
          15.8,
          7.5,
          24.2
        ]
      }
    },
    {
      "label": "UETrack-T",
      "family": "crop",
      "lost": 34.9,
      "ends_lost": 50,
      "accuracy": 70.9,
      "auc": 48.2,
      "precision": 64.6,
      "by_size": {
        "tiny (<16px)": 58.7,
        "small (16-32px)": 40.1,
        "medium (32-64px)": 24.4,
        "large (>=64px)": 0.0
      },
      "orin_ms": 2.52,
      "vs_reference": {
        "lost": [
          8.3,
          5.6,
          11.4
        ],
        "accuracy": [
          -2.4,
          -4.0,
          -0.9
        ],
        "ends_lost_pts": [
          19.2,
          10.8,
          27.5
        ]
      }
    }
  ],
  "by_absence": {
    "never absent": {
      "n": 89,
      "UETrack-B": 18.2,
      "EfficientTAM-Ti": 21.8,
      "SAM 2.1-tiny": 22.5,
      "UETrack-T": 27.8
    },
    "brief absence (up to 30 frames)": {
      "n": 19,
      "UETrack-B": 45.2,
      "EfficientTAM-Ti": 36.2,
      "SAM 2.1-tiny": 43.4,
      "UETrack-T": 49.5
    },
    "out of view over 30 frames": {
      "n": 12,
      "UETrack-B": 58.8,
      "EfficientTAM-Ti": 55.4,
      "SAM 2.1-tiny": 58.4,
      "UETrack-T": 64.6
    }
  },
  "recovery_disagreement": {
    "sam2_ends_lost_uetrack_b_does_not": 23,
    "uetrack_b_ends_lost_sam2_does_not": 4,
    "both": 23
  }
}