Support Train-Time RTC - #39

Draft

DavidHe137 wants to merge 11 commits into

mainfrom

Commits on Aug 6, 2026

Wire TRAIN_TIME_RTC through engine and openpi adapter

DavidHe137
and
claude
committed
47915b2
Bump openpi: train-time RTC libero configs

DavidHe137
and
claude
committed
c222812

Commits on Aug 9, 2026

Fix python environment.
DavidHe137
committed
d536c26
Select infer_type via server config

DavidHe137
and
claude
committed
454aaac
Warm up only the configured infer_type

DavidHe137
and
claude
committed
7beb9d4
Re-anchor RTC prev actions to the current observation state

DavidHe137
and
claude
committed
492d4b9
Estimate RTC delay from acked realized delays

DavidHe137
and
claude
committed
13dc38e

Commits on Aug 10, 2026

Training code for train-time RTC.
DavidHe137
committed
8a4a4e8

Commits on Aug 11, 2026

Don't need this.
DavidHe137
committed
5abda16
Untrack machine-local server config.

DavidHe137
and
claude
committed
7f633b9
Bump openpi: clamp shifted prev actions instead of zero-padding

DavidHe137
and
claude
committed
0330a0d