ybpy

为 Agilex Piper 单臂部署实现或修改基于 WebSocket 的远程推理链路，覆盖普通 `pi05` 和 `pi05star` 两种部署方式。Use when adapting `example/deploy/piper_single_on_PI0.py` so inference runs on a remote GPU/server, the robot-side process only collects observations and sends websocket requests, and the local machine still controls the arm over CAN. Also use when wiring `openpi` websocket server/client, selecting between `pi05` and `pi05star`, defining observation/action schemas including `adv_ind`, or validating server/local startup flow for single-arm OpenPI deployment.

Build the XDOF-1000 semantic summary, task-scoped assets, compositional-generalization task library, preset evaluation panels, repeat-resolved task series, and interactive rollout scoring. Use when extracting semantics/assets, generating or labeling tasks, assigning G1-G5/GD, auditing coverage, selecting an evaluation set, generating an evaluation task series, or recording action-event progress. Authorize next-round mutation only for the exact trimmed message “开始下一轮任务生成”, and final candidate-library export only for “收口导出最终候选库”.