How to set PX2's GPUs work in fully compute mode?

Hi all,

We run a same caffe model on PX2 and an Alienware PC equiped with GTX 960 GPU, the consume time of every single frame is confusing. The Alienware only consumes about 80ms, but PX2 comsumes almost 200ms. We suspect the PX2 didn’t work at its fully performance. But there is no nvidia-smi on it, so how to set PX2 to a fully compute mode?
Below is the output of ./deviceQuery:

CUDA Device Query (Runtime API) version (CUDART static linking)

Detected 2 CUDA Capable device(s)

Device 0: "GP106"
  CUDA Driver Version / Runtime Version          8.5 / 8.0
  CUDA Capability Major/Minor version number:    6.1
  Total amount of global memory:                 3840 MBytes (4026466304 bytes)
  ( 9) Multiprocessors, (128) CUDA Cores/MP:     1152 CUDA Cores
  GPU Max Clock rate:                            2581 MHz (2.58 GHz)
  Memory Clock rate:                             13 Mhz
  Memory Bus Width:                              64-bit
  L2 Cache Size:                                 1048576 bytes
  Maximum Texture Dimension Size (x,y,z)         1D=(131072), 2D=(131072, 65536), 3D=(16384, 16384, 16384)
  Maximum Layered 1D Texture Size, (num) layers  1D=(32768), 2048 layers
  Maximum Layered 2D Texture Size, (num) layers  2D=(32768, 32768), 2048 layers
  Total amount of constant memory:               65536 bytes
  Total amount of shared memory per block:       49152 bytes
  Total number of registers available per block: 65536
  Warp size:                                     32
  Maximum number of threads per multiprocessor:  2048
  Maximum number of threads per block:           1024
  Max dimension size of a thread block (x,y,z): (1024, 1024, 64)
  Max dimension size of a grid size    (x,y,z): (2147483647, 65535, 65535)
  Maximum memory pitch:                          2147483647 bytes
  Texture alignment:                             512 bytes
  Concurrent copy and kernel execution:          Yes with 2 copy engine(s)
  Run time limit on kernels:                     No
  Integrated GPU sharing Host Memory:            No
  Support host page-locked memory mapping:       Yes
  Alignment requirement for Surfaces:            Yes
  Device has ECC support:                        Disabled
  Device supports Unified Addressing (UVA):      Yes
  Device PCI Domain ID / Bus ID / location ID:   0 / 0 / 0
  Compute Mode:
     < Default (multiple host threads can use ::cudaSetDevice() with device simultaneously) >

Device 1: "GP10B"
  CUDA Driver Version / Runtime Version          8.5 / 8.0
  CUDA Capability Major/Minor version number:    6.2
  Total amount of global memory:                 6933 MBytes (7269355520 bytes)
  ( 2) Multiprocessors, (128) CUDA Cores/MP:     256 CUDA Cores
  GPU Max Clock rate:                            1275 MHz (1.27 GHz)
  Memory Clock rate:                             13 Mhz
  Memory Bus Width:                              64-bit
  L2 Cache Size:                                 524288 bytes
  Maximum Texture Dimension Size (x,y,z)         1D=(131072), 2D=(131072, 65536), 3D=(16384, 16384, 16384)
  Maximum Layered 1D Texture Size, (num) layers  1D=(32768), 2048 layers
  Maximum Layered 2D Texture Size, (num) layers  2D=(32768, 32768), 2048 layers
  Total amount of constant memory:               65536 bytes
  Total amount of shared memory per block:       49152 bytes
  Total number of registers available per block: 32768
  Warp size:                                     32
  Maximum number of threads per multiprocessor:  2048
  Maximum number of threads per block:           1024
  Max dimension size of a thread block (x,y,z): (1024, 1024, 64)
  Max dimension size of a grid size    (x,y,z): (2147483647, 65535, 65535)
  Maximum memory pitch:                          2147483647 bytes
  Texture alignment:                             512 bytes
  Concurrent copy and kernel execution:          Yes with 1 copy engine(s)
  Run time limit on kernels:                     No
  Integrated GPU sharing Host Memory:            Yes
  Support host page-locked memory mapping:       Yes
  Alignment requirement for Surfaces:            Yes
  Device has ECC support:                        Disabled
  Device supports Unified Addressing (UVA):      Yes
  Device PCI Domain ID / Bus ID / location ID:   0 / 0 / 0
  Compute Mode:
     < Default (multiple host threads can use ::cudaSetDevice() with device simultaneously) >
> Peer access from GP106 (GPU0) -> GP10B (GPU1) : No
> Peer access from GP10B (GPU1) -> GP106 (GPU0) : No

deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 8.5, CUDA Runtime Version = 8.0, NumDevs = 2, Device0 = GP106, Device1 = GP10B
Result = PASS

Hello taoshaoyuan,

Could you please update DPX2 PDK to Beta2 and run sudo tegrastats for CPU/GPU load information? Thanks.