Repository navigation
Chunk lateness bound: opt-in expiry in ActionChunkBuffer (stop emitting, never hold or synthesize) - #359
Merged
Conversation
…stop emitting, never hold or synthesize) Requested by a partner running GR00T on Jetson Thor beside a 1 kHz servo loop whose policy layer is the only robot-side fallback. Per-action lateness (t_ref + i/control_hz) bound, configurable ms, default off; optional total-age cap; counters in BufferStats and metrics; wired into every buffer-using server mode; injectable clock. 72 tests incl. late inference, dropped replan and deadline ordering (6 ms stale deadline); partner test plan in docs/chunk-lateness-test-plan.md. Software-side jitter measured on macOS only; nothing verified on Thor. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
… files Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Per-action lateness bound (configurable ms, default off) plus optional total-age cap; counters and metrics; wired into every mode that uses the buffer. 72 tests incl. late inference / dropped replan / deadline ordering. Test plan for the partner: docs/chunk-lateness-test-plan.md. macOS-only jitter numbers; nothing verified on Thor.
🤖 Generated with Claude Code