diff --git a/alf/utils/tensorrt_utils_test.py b/alf/utils/tensorrt_utils_test.py
index 7c099e9b3..b788b0160 100644
--- a/alf/utils/tensorrt_utils_test.py
+++ b/alf/utils/tensorrt_utils_test.py
@@ -24,6 +24,7 @@
 from alf.data_structures import restart
 from alf.algorithms.sac_algorithm import SacAlgorithm
 from alf.utils.tensorrt_utils import (OnnxRuntimeEngine, TensorRTEngine,
+                                      get_tensorrt_engine_class,
                                       compile_method, is_onnxruntime_available,
                                       is_tensorrt_available)
 
@@ -154,6 +155,8 @@ def test_tensorrt_resnet50(self):
         model.eval()
         dummy_img = torch.randn(1, 3, 224, 224)
 
+        for _ in range(10):
+            eager_output = model(dummy_img)
         start_time = time.time()
         for _ in range(100):
             eager_output = model(dummy_img)
@@ -161,14 +164,22 @@ def test_tensorrt_resnet50(self):
               (time.time() - start_time) / 100)
 
         if is_tensorrt_available():
-            compile_method(model, 'forward')
-            model(dummy_img)  # build engine
-            start_time = time.time()
-            for _ in range(100):
-                output = model(dummy_img)
-            print(f"TensorRT predict step time: ",
-                  (time.time() - start_time) / 100)
-            self.assertTensorClose(eager_output, output, epsilon=0.01)
+            for fp16 in [True, False]:
+                model = models.resnet50(pretrained=True)
+                model.eval()
+                compile_method(model, 'forward',
+                               partial(get_tensorrt_engine_class(), fp16=fp16))
+                model(dummy_img)  # build engine
+                for _ in range(10):
+                    output = model(dummy_img)
+                start_time = time.time()
+                for _ in range(100):
+                    output = model(dummy_img)
+                fp_str = "16" if fp16 else "32"
+                print(f"TensorRT FP{fp_str} predict step time: ",
+                      (time.time() - start_time) / 100)
+                eps = 0.03 if fp16 else 0.01
+                self.assertTensorClose(eager_output, output, epsilon=eps)
 
         if is_onnxruntime_available():
             model1 = models.resnet50(pretrained=True)
@@ -176,6 +187,8 @@ def test_tensorrt_resnet50(self):
             # Use onnxruntime API
             compile_method(model1, 'forward', OnnxRuntimeEngine)
             model1(dummy_img)  # build engine
+            for _ in range(10):
+                output = model1(dummy_img)
             start_time = time.time()
             for _ in range(100):
                 output = model1(dummy_img)