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RobotControlStack
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tam interface instantiation
- #330
#330
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juelg
merged 19 commits into
RobotControlStack:feat/tam-integration
RobotControlStack/robot-control-stack:feat/tam-integration
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Dongwon-Son:feat/tam-integration
Dongwon-Son/robot-control-stack:feat/tam-integration
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Aug 21, 2026
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tam interface instantiation
#330
juelg
merged 19 commits into
RobotControlStack:feat/tam-integration
RobotControlStack/robot-control-stack:feat/tam-integration
from
Dongwon-Son:feat/tam-integration
Dongwon-Son/robot-control-stack:feat/tam-integration
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Commits on Aug 21, 2026
feat(utils): bounded last_n copy on ThreadSafeFixedBuffer
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feat(franka): implement the TAM residual forward pass
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feat(example): TAM history encoder loop in franka_tam
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feat(example): auto-resolve TAM checkpoint and ideal-model MJCF
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docs(example): TAM integration guide
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feat(franka): opt-in SCHED_FIFO for the control thread (rt_priority)
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fix(example): always disable JAX GPU preallocation for the TAM encoder
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docs(example): first latent needs ~0.5 s of history, not 4 s
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feat(franka): RealtimeKit fallback for control-thread elevation
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feat(franka): TAM adaptation survives controller restarts
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refactor(example): drop stream management from the encoder loop
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fix(example): restore module constants dropped by the refactor
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refactor(example): use the runtime's deployment API in _init_tam
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refactor(example): rely on from_checkpoint's mode enforcement
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refactor(example): push controller samples straight into the runtime
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refactor(example): single tam switch, runtime owns the weights
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refactor(franka): move the TAM window forward into simadaptor.h
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refactor(franka): lock-free recent-sample ring for tam_forward
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refactor(franka): TAM tuning as C++ defaults; elevation helper into simadaptor.h
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