tam interface instantiation - #330

Merged

juelg merged 19 commits into

RobotControlStack:feat/tam-integrationfrom

Dongwon-Son:feat/tam-integration

Aug 21, 2026

Commits on Aug 21, 2026

feat(utils): bounded last_n copy on ThreadSafeFixedBuffer
Dongwon-Son
committed
bf9a911
feat(franka): implement the TAM residual forward pass
Dongwon-Son
committed
87f06bd
feat(example): TAM history encoder loop in franka_tam
Dongwon-Son
committed
3ea6ec5
feat(example): auto-resolve TAM checkpoint and ideal-model MJCF
Dongwon-Son
committed
28cda4a
docs(example): TAM integration guide
Dongwon-Son
committed
5e923b5
feat(franka): opt-in SCHED_FIFO for the control thread (rt_priority)
Dongwon-Son
committed
54ffb84
fix(example): always disable JAX GPU preallocation for the TAM encoder
Dongwon-Son
committed
a624b5e
docs(example): first latent needs ~0.5 s of history, not 4 s
Dongwon-Son
committed
fe5c980
feat(franka): RealtimeKit fallback for control-thread elevation
Dongwon-Son
committed
47f5aad
feat(franka): TAM adaptation survives controller restarts
Dongwon-Son
committed
0956b88
refactor(example): drop stream management from the encoder loop
Dongwon-Son
committed
04bb510
fix(example): restore module constants dropped by the refactor
Dongwon-Son
committed
8dd653b
refactor(example): use the runtime's deployment API in _init_tam
Dongwon-Son
committed
75038e3
refactor(example): rely on from_checkpoint's mode enforcement
Dongwon-Son
committed
f604d71
refactor(example): push controller samples straight into the runtime
Dongwon-Son
committed
2bc0e71
refactor(example): single tam switch, runtime owns the weights
Dongwon-Son
committed
8902e8b
refactor(franka): move the TAM window forward into simadaptor.h

Dongwon-Son
authored and
Dongwon
committed
ce646ee
refactor(franka): lock-free recent-sample ring for tam_forward
Dongwon-Son
committed
f3d8f2f
refactor(franka): TAM tuning as C++ defaults; elevation helper into simadaptor.h
Dongwon-Son
committed
c37f387

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tam interface instantiation - #330

tam interface instantiation#330
juelg merged 19 commits into
RobotControlStack:feat/tam-integrationfrom
Dongwon-Son:feat/tam-integration

Commits on Aug 21, 2026

feat(utils): bounded last_n copy on ThreadSafeFixedBuffer

feat(franka): implement the TAM residual forward pass

feat(example): TAM history encoder loop in franka_tam

feat(example): auto-resolve TAM checkpoint and ideal-model MJCF

docs(example): TAM integration guide

feat(franka): opt-in SCHED_FIFO for the control thread (rt_priority)

fix(example): always disable JAX GPU preallocation for the TAM encoder

docs(example): first latent needs ~0.5 s of history, not 4 s

feat(franka): RealtimeKit fallback for control-thread elevation

feat(franka): TAM adaptation survives controller restarts

refactor(example): drop stream management from the encoder loop

fix(example): restore module constants dropped by the refactor

refactor(example): use the runtime's deployment API in _init_tam

refactor(example): rely on from_checkpoint's mode enforcement

refactor(example): push controller samples straight into the runtime

refactor(example): single tam switch, runtime owns the weights

refactor(franka): move the TAM window forward into simadaptor.h

refactor(franka): lock-free recent-sample ring for tam_forward

refactor(franka): TAM tuning as C++ defaults; elevation helper into simadaptor.h