Proto Precision Additive GraphNav will use its local ko_tform_body and this ko_tform_body to update the initial localization guess, if necessary.max_distancedoubleThe max distance is how far-off the robotic is allowed to localize from the place supplied in the preliminary guess. Otherwise it searches a neighborhood of the given size.max_yawdoubleThe max yaw is how completely different the localized yaw is allowed to be from the equipped yaw within the initial guess. Otherwise it searches a neighborhood of the given size.fiducial_initSetLocalizationRequest.FiducialInitTells the initializer whether or not to make use of fiducials, and how to use them.use_fiducial_idint32If utilizing FIDUCIAL_INIT_SPECIFIC, that is the particular fiducial ID to make use of for initialization. If no detection of this fiducial exists, the service will return STATUS_NO_MATCHING_FIDUCIAL. Otherwise, if the goal waypoint does not comprise a great measurement of the desired fiducial, close by waypoints may be used to deduce the robot's location. If false, three 32 bit floats shall be used per point within the level cloud. EstopEndpoints must be registered earlier than they can ship commands or request challenges. FieldTypeDescriptionendpointsEstopEndpointWithStatusStatus for all available endpoints.stop_levelEstopStopLevelCurrent stop degree for the system. Will be the most-restrictive cease stage specified by an endpoint, or a stop level asserted by the system as an entire (e.g. if an endpoint timed out).stop_level_detailsstringHuman-readable information on the cease stage. FieldTypeDescriptionendpointsEstopEndpointEstopEndpoints which might be a half of this configuration. Unique IDs do not have to be filled out, but can be.unique_idstringUnique ID for this configuration. Message describing the general dock state of the robot, including power & comms connections. Note that proto-tools only improve your general exp per hour when you would ordinarily get less exp than they offer in the time it takes to earn one. For instance, if in each twenty minute sport you earn 20 factors, you stand to earn three tools per hour. If you selected to use these as fletching knives for chopping yew shieldbows, you then would have, in effect, have earned seventy three,350 bonus exp in that one hour, or even more with skilling only video games . It is possible in some skills, corresponding to development, to earn exp at a sooner price that these instruments would benefit you, by dearer means. In this case the software acts as a benefit by saving supplies. From order to supply, our educated, on-site customer service staff is always out there to assist with no matter you want. We even have space sales representatives who provide regional assist across the us and beyond. With hundreds of various options in a big number of colors and sizes, our products are designed to cowl all standard and specialty fittings. We also supply unlimited customization to tailor our merchandise to your needs. The overall length is thirteen.2 inches, and the finish is chrome plating. This wrench makes use of a press-fit pin to hold the adjusting knurl, somewhat than the threaded pin used in older production. The inset exhibits the 12-point broaching with hot-broached building. The end is chrome plating, totally polished for the larger sockets, but with a satin higher part for the smaller sockets with stepped diameters. 53 reveals a group of five 1/2-drive Penens sockets, every marked "Penens Corp Mfd. U.S.A." and "Alloy". The fashions and sizes are, from the left, 1614 (7/16), 1616 (1/2), 1618 (9/16), 1626 (13/16), and 1640 (1-1/4). FieldTypeDescriptionend_timegoogle.protobuf.TimestampThe timestamp by which a command should finish executing. This is a required subject and used to stop runaway instructions.se2_frame_namestringThe name of the body that velocity and slew_rate_limit are relative to. The trajectory have to be expressed in a gravity aligned frame, so both "imaginative and prescient", "odom", or "flat_body".
Non-small Cell Lung Cancer With Proto-Oncogene B-Raf V600E Presenting a Distinctive Clinical Course: A Case Report - Cureus
Non-small Cell Lung Cancer With Proto-Oncogene B-Raf V600E Presenting a Distinctive Clinical Course: A Case Report.
These dimensions should be assumed to be meters.max_ydoublemax_y is half the dimensions of the assumed field . These dimensions should be assumed to be meters.max_zdoublemax_z is half the scale of the assumed box . These dimensions must be assumed to be meters.remapping_constantdoubleUsed in the remapping course of from bytes to metric models. For XYZ_4SC and XYZ_5C, this should equal 127.bytes_per_pointint32Number of bytes in each level on this encoding. SE3_CIRCLE_FORCE_TORQUE corresponds to lever type objects. Move the robotic at a selected SE2 velocity for a hard and fast period of time. The AuthService provides shoppers the ability to convert a user/password pair right into a token. The token can then be added to the http2 headers for future requests so as to establish the id of the requester. The GetAuthToken response message contains an authentication token if the login information is correct and succeeds. FieldTypeDescriptionseverityAlertData.SeverityLevelSeverity of this alert.titlestringHuman readable alert title/summary.sourcestringThe source that triggered the alert.additional_datagoogle.protobuf.StructJSON data for any additional info hooked up to this alert. NameNumberDescriptionPOSITIONS_UNKNOWN0Invalid request; don't use.POSITIONS_CARRY1The carry place is a damped, force limited position near stow, with the hand slightly in front of the robot.POSITIONS_READY2Move arm to ready position. The prepared position is defined with the hand instantly in entrance of and slightly above the body, with the hand dealing with forward in the robotic body +X course.POSITIONS_STOW3Stow the arm, safely. If the robot is holding something, it's going to freeze the arm as a substitute of stowing. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.screensScreenDescriptionList of all display screen layouts that can be selected. FieldTypeDescriptionheaderbosdyn.api.RequestHeaderCommon request header.volumefloatvolume, as a proportion of maximum. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.volumefloatvolume, as a proportion of most. FieldTypeDescriptionheaderbosdyn.api.RequestHeaderCommon request header.brightnessesSetLEDBrightnessRequest.BrightnessesEntryBrightness to assign to the LED positioned at indices . Keys embody a normal six-point hex, round-head, Torx, and spline-head styles. Or a full-scale production run full with hardware qualification, Proto Precision Additive has the know-how, materials and in-house expertise to deliver your creative idea to life – irrespective of the applying. NameNumberDescriptionSTATUS_UNKNOWN0STATUS_OK1No identified issues with the pose estimate.STATUS_AMBIGUOUS2The orientation of the tag is ambiguous.STATUS_HIGH_ERROR3The pose may be unreliable as a outcome of high reprojection error.
Powermatic
The RobotState request message to get the present state of the robotic. The RobotMetrics request message to get metrics and parameters from the robot. FieldTypeDescriptionheaderRequestHeaderCommon request header.link_namestringThe link name of which the OBJ file shoould represent. May be used for localization or routinely producing annotations, for example. Snapshots are immutable -- if any of the opposite fields change, this ID should additionally change.stancesEdgeSnapshot.StanceSampling of stances as robot traversed this edge. An edge is uniquely recognized by the waypoints it connects. We are a rider owned and operated freestyle scooter firm who manufactures the world's greatest parts in San Diego, California utilizing as a lot U.S. sourced material as possible. What is regularly debated amongst golf gear fanatics is whether single-material irons present higher really feel. For instance, some argue a one-piece, soft iron cast iron provides better really feel than an iron with a welded face. Most genetic research has targeted folks of European descent. Some are combating to bring discarded knowledge from different groups back to the desk. Move the robot right into a "ready" position from which it could sit or stand up. FieldTypeDescriptionstatusSafePowerOffCommand.Feedback.StatusCurrent status of the command. FieldTypeDescriptionstatusNamedArmPositionsCommand.Feedback.StatusCurrent status of the request. Move the hand in such a approach to point it at a position on the earth. If a velocity for a joint is specified, velocities for all joints we are trying to move must be specified. A set of joint angles and velocities that can be utilized as a degree within a joint trajectory.
Proto Io
To make use of those features, you'll want to put in the Go plugin in IntelliJ IDEA Ultimate, and currently only works with commonplace library functions. In this weblog post, we'll cover the latest updates, which embrace support for Go microservices and .proto recordsdata, the power to export UML diagrams, an enhanced file chooser dialog, accessibility improvements, and extra. You can use gRPC-Gateway with Gin, since it is only a handler.
The inset exhibits the forged-in code "B.8.7" on the reverse.
The period of time allowed would be the most of this period and any requests made to plugins or other capture sources.
FieldTypeDescriptionheaderRequestHeaderCommon request header.databytesData to store.data_idDataIdentifierData identifier of the information.file_extensionstringFile extension to use when writing the data to file.
If these knot factors do not match the requested knot factors, think about increasing velocity/acceleration limits, and/or staying further away from joint place limits. In situations where we've modified you last level, we append a minimal time trajectory from the planner's final level to the requested final level. This signifies that the size of planned_points could additionally be one level larger than the requested.time_to_goalgoogle.protobuf.DurationReturns amount of time remaining until the joints are on the aim place. For a quantity of point trajectories, that is the time remaining to the final point. Each axis within the task frame is allowed to be set to position mode or Force mode. If the axis is ready to position, the specified worth is read from the pose_trajectory_in_task. Specifics of what the node does are contained in the "impl" area. FieldTypeDescriptionblackboard_variablesKeyValueThe listing of variables that ought to be outlined for this subtree, with preliminary values.childNodeThe blackboard variables will solely persist in the subtree outlined by this youngster node. The child's tick() will be called on the child till it returns both SUCCESS or FAILURE. FieldTypeDescriptionservice_namestringName of the service to use.hoststringHost machine the listing is operating on.commandbosdyn.api.RobotCommandThe command to execute. General error code are returned within the header to facilitate error-handling which isn't message-specific. This can be utilized for generic error handlers, aggregation, and trend evaluation. If used, an inner error has happened.STATUS_IN_PROGRESS1The gripper is opening or closing.STATUS_AT_GOAL2The gripper is at the ultimate point of the trajectory.STATUS_APPLYING_FORCE3During a close, detected contact and transitioned to drive management. The StopRecording response message incorporates the status of this request and any useful error info if the request fails. The StartRecording request tells the recording service to begin creating waypoints with the desired recording_environment. The CreateWaypoint request message specifies a name and surroundings the robotic ought to use to generate a waypoint in the graph at it's present location. The GetPointCloud request message to ask a specific level cloud service for information. An inner PayloadRegistrationService problem has occurred if UNKNOWN is ready.STATUS_OK1Success. Authorize the payload in the webserver first, then strive again. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.statusStopResponse.StatusResult of the cease request. Children could have entry to the state gathered by this node.state_namestringName of the bosdyn.api.RobotState object in the blackboard. If the axis is ready to pressure, the specified worth is read from the wrench_trajectory. Two messages are equal if they belong to the identical message descriptor, have the identical set of populated identified and extension subject values, and the identical set of unknown fields values. If both of the top-level messages are invalid, then Equal reviews true only if each are invalid. The subsequent figure reveals a intelligent and unusual software for a ratcheting crowfoot, a specialty socket set with split sockets to be used on brake lines or refrigeration fittings. The pending standing refers to patent#2,691,315, filed by A.J. This device is very similar to the well-known Proto 6734 valve adjuster, first produced starting within the Nineteen Thirties as thePlomb 2034and later as thePlomb 6734 and Proto 6734. By default, that is / on, and the chance that the body falls over as a outcome of the arm makes contact on the planet is / low. If this is purposely disabled , the arm / might find a way to accelerate quicker, and apply extra force to the world and to things than traditional, / but there's additionally added danger of the robotic falling over. Each of the arm's joints won't ever transfer quicker than maximum_velocity and by no means accelerate sooner than maximum_acceleration. The consumer can specify a trajectory of joint positions and elective velocities for the arm to follow.
British Dictionary Definitions For Proto
When comparing runtime values in the blackboard, some values could be "stale" (i.e too old). This defines how the comparator ought to behave when a learn value is stale. Triggers a StoreMetadataRequest to the data acquisition store. FieldTypeDescriptionservice_namestringName of the service to use.hoststringHost machine of the listing server that the Spot CAM registered with. Sets current blackboard variables within this scope to particular values, returning SUCCESS. FieldTypeDescriptionalways_restartboolForces the execution to all the time start with the primary youngster. Pendleton Tool was the parent firm of Plomb Tool, Penens, P&C, and different subsidiaries, but it's presently a bit of a thriller that Challenger ended up in Cleveland. One possibility is that Pendleton had shifted the manufacturing of Challenger instruments to the Vlchek manufacturing unit in Cleveland, after having acquired Vlchek Tool in 1959. The encoding is defined byte-for-byte unbiased of any platform. However, it's designed to be effectively manipulated on widespread fashionable CPUs. Proto Homes is your best option our household could have made when we made the decision to construct a model new home. The Team at Proto designed a home for our household the place our youngsters will develop up and we can get pleasure from each moment with friends and family. It is gorgeous, environmentally pleasant, sturdy, trendy but additionally personal on each level. I bought my Proto Home almost three years ago and it's been wonderful. The CreateEdge response message contains the status of this request and any helpful error info if the request fails. This reviews the pose of the robot relative to a selected waypoint on the graph nav map. If successful, accommodates a subgraph of new waypoints or edges created by this course of. Causes the server to optimize an current anchoring, or generate a new anchoring for the map utilizing the given parameters. The new anchoring shall be streamed again to the client, or modified on the server if desired. The person may assign a number of world objects and waypoints a guess at where they're in the seed frame. You can install Buf by following the information on the official web site. Once you might have put in Go in your system, you may be all set to put in the gRPC-Gateway plugin. A gRPC gateway-generated reverse proxy is horizontally scaled to run on a number of machines and a load-balancer is used in entrance of those cases. A single instance can host multiple gRPC services' reverse proxies. Browsers could not help gRPC out of the box; so for the web consumer that wishes to interact with gRPC services, gRPC-Gateway is the go-to option. In this tutorial information, we will cowl each standalone servers and integration with existing code intimately. The UpdatePayloadVersion response message accommodates the status of whether the replace was profitable. The UpdatePayloadAttached response message contains the standing of whether or not the replace was successful. The RegisterPayload request message contains the payload information and secret to have the power to register it to the directory. Request a consumer token from the robotic A token will solely be provided after the registered payload has been enabled by an admin.
Proto Reward Card
I would say, prototype & __proto__ both must be avoided. Object.prototype; Object.prototype in return is what foo.__proto__ hyperlinks to. Because JavaScript would not want to allow getting / setting the [] instantly, so it permits it via a middle layer which is __proto__. So you can consider __proto__ as a getter/setter of the [] property. Well, it is an object referencing another object which is also a property of all objects, known as []. I assume you have to know the difference between __proto__ , [] and prototype.
Grpcpages¶
The general size is 6.6 inches, and the end is chrome plating. The total length is 6.2 inches, and the end is chrome plating. The overall length is 8.three inches, and the finish is chrome plating. The total length is 7.1 inches, and the end is chrome plating. The total size is 5.7 inches, and the end is chrome plating. On December 18, 1959 shareholders of the Vlchek Tool Company approved the sale of the corporate's belongings to Pendleton Tool Industries, primarily based on a report in the Wall Street Journal on that date. The purchase of Vlchek was completed on January four, 1960, primarily based on a report in the Los Angeles Times on the next day. In Proto began providing lockable adjustable wrenches with the name "Clik-Stop", utilizing a mechanism based on a 1959 patent. In 1948 adjustable wrenches marked with both Proto and Plomb (PRVTV-PLVMB) were made with a plain hanging gap , as an alternative of the broached hole previously equipped. Penens catalogs from 1951 and 1955 illustrate adjustable wrenches with a plain hanging gap. The following listing of observations could help estimate a manufacturing date for some instruments. FieldTypeDescriptionheaderResponseHeaderCommon response header.payloadsPayloadThe returned listing of payloads registered in the listing. FieldTypeDescriptionheaderRequestHeaderCommon request headerserver_configNetworkComputeServerConfigurationConfiguration about which server to use. FieldTypeDescriptionimage_sourcestringImage supply.image_servicestringImage service. A listing of all capabilities that a selected data acquisition plugin service can efficiently purchase and save the data specified in every capability. FieldTypeDescriptionpod_typePodTypeEnumThe type of machine-readable values stored.dimensionuint32If empty, indicates a single POD per sample. If one-element, indicates a vector of the given size per pattern. If two-elements, signifies a matrix of the given dimension, and so forth. The DataAcquisitionStoreService is used to store information on the robotic in association with the DataIdentifiers specified by the DataAcquisitionService. Additionally, requests could be made to the DataAcquisitionStoreService to establish totally different pieces of data or entire seize actions which match query parameters, such as time ranges or action/group names. FieldTypeDescriptionheaderRequestHeaderCommon request header.imageImageCaptureImage to retailer.data_idDataIdentifierData identifier of the image. FieldTypeDescriptionheaderRequestHeaderCommon request header.databytesData to retailer.data_idDataIdentifierData identifier of the data.file_extensionstringFile extension to make use of when writing the information to file. FieldTypeDescriptionfrom_ko_tform_stairsSE3PoseIt is expressed in ko body of the from_waypoint. This area is only used in GraphNav.tformStairTransformOutside GraphNav, this subject specifies the stair origin.stairsStraightStaircase.StairEach stair ought to be rise followed by run. The final stair may have zero run.bottom_landingStraightStaircase.LandingThe lowermost touchdown of the stairs. FieldTypeDescriptionposeSE3PoseRequired pose the robot will attempt to obtain.velocitySE3VelocityOptional velocity the robot will try to achieve.time_since_referencegoogle.protobuf.DurationThe period to succeed in the purpose relative to the trajectory reference time. FieldTypeDescriptionpointsSE2TrajectoryPointThe factors in trajectoryreference_timegoogle.protobuf.TimestampAll trajectories specify occasions relative to this reference time. If this field isn't included, this time would be the obtain time of the command.interpolationPositionalInterpolationParameters for the way trajectories might be interpolated on robot. Assigned upon first Request and echoed with each subsequent request. FieldTypeDescriptionheaderRequestHeaderCommon request header.previous_round_tripTimeSyncRoundTripRound-trip timing information from the earlier Update request.clock_identifierstringIdentifier to confirm time sync between robot and client. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.logpointsLogpointList of all the individual log factors concatenated into a list. ServerMux implements a Handler interface so you can use any middleware to wrap the ServerMuxand log incoming and outgoing requests. For starting the server, simply run go run proxy/main.go in the root of your project listing. The advantage of utilizing Go is you could run each gRPC service- and gRPC-Gateway generated code in the identical course of. Buf also permits constructing code to use remote plugins (i.e., specified plugins will be downloaded by Buf automatically during the construct and maintained by Buf on the native system). GRPC gateways build a proxy for a gRPC service that acts as a Restful/JSON utility to the consumer. It opens the risk of using the same codebase for supporting both Restful/JSON and gRPC. New Jersey, United States,-The PVC Jacketing Market is fastidiously analyzed in the report with an emphasis on market dynamics, including key issues and challenges, drivers, tendencies, and alternatives. ArXiv is committed to those values and only works with companions that adhere to them. Note that maturity guarantees apply solely to wire-level compatibility for the binary Protobuf serialization. Neither message, area, nor enum names of Protobuf messages are seen on the wire and usually are not thought-about part of the guarantees. // If nil, this defaults to using protoregistry.GlobalTypes. This service is a mechanism for including data to the robot's log information. These could be inner text-log messages from a client for use in debugging, for example. These are notes particularly intended to mark when logs ought to be preserved and reviewed to ensure that robot hardware and/or software is working as intended. This identifier does not should be updated when its fields change.snapshot_idstringIdentifier of this waypoint's Snapshot data.waypoint_tform_kobosdyn.api.SE3PoseTransform from the KO frame to the waypoint.annotationsWaypoint.AnnotationsAnnotations particular to the present waypoint. After uploading a graph, the consumer is predicted to upload giant knowledge at waypoints and edges . The response provides a list of snapshot IDs which are not but cached on the server. Snapshots with these IDs must be uploaded by the shopper. Further monitoring on the success of the acquisition request can be accomplished using the GetStatus RPC.request_iduint32Identifier which can be utilized to examine the standing of or cancel the acquisition motion.. As a file is closed, a DescriptorBlock containing a FileIndex ought to be written. The FileIndex summarizes the info sequence saved within the file and the placement of the block-indexes for every type in the file. Each collection is assigned a "series_index" within the file, and this index could also be used to index into the repeated fields on this message. Automatically create interaction specs with the Interaction Recipe. All pictures, merchandise and text stay copyright of their respective homeowners, whether famous or not. The 24/7 automatic order form will to save heaps of you creating your own lists of elements to e-mail in to order. The regular axis is .sizedoubleThe aspect size of the quad. FieldTypeDescriptionparent_frame_namestringThe name of the father or mother frame. If a frame has no mother or father , it's the root of the tree.parent_tform_childSE3PoseTransform representing the pose of the child frame in the mother or father's frame. The EstopService offers a service interface for the robot EStop/Authority to function the system. Uses challenge-style communication to enforce end consumer (aka "originators") connection for Authority to Operate . Large sensor knowledge should be downloaded utilizing DownloadWaypointSnapshotRequest and DownloadEdgeSnapshotRequest. Both snapshots and the graph are required to exist on the server for GraphNav to localize and navigate. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.lease_use_resultbosdyn.api.LeaseUseResultDetails about how the lease was used .statusDockingCommandFeedbackResponse.StatusCurrent suggestions of specified command ID. If you already have a project underway, or a direct need, send your specs over to us and we will evaluate your injection molding wants and get back with you. It is necessary to notice than many secondary uses of the remodeled instruments regular varieties (hammer, knife, etc.), aren't available to the sacred clay variants. Do not flush medicines down the bathroom or pour them into a drain except instructed to take action. Properly discard this product when it's expired or now not needed. Drug interactions could change how your drugs work or increase your danger for critical unwanted effects. This doc does not include all attainable drug interactions. While corporations like Meta have tried to create a buzz around the potentialities of the so-called metaverse and to place it as a groundbreaking improvement, its core ideas and ideas have been around for decades within the virtual chatroom and video game areas. When it involves the latter, affinity for metaverse-like experiences is especially high with young players. According to information from Newzoo, 38 % of players between the age of 10 to twenty in key video game markets have performed a proto-metaverse sport in 2021. As our chart shows, this makes the typical metaverse participant significantly younger than the common gamer. Use this message to say properties about the grasped item. By default, the robot will assume all grasped objects usually are not carriable. FieldTypeDescriptionheaderResponseHeaderCommon response header.feature_enabledGetFeatureEnabledResponse.FeatureEnabledEntryThe ensuing map showing the function name and a boolean indicating if the function is enabled with this license . The TakeLease request message which sends which useful resource the lease ought to be for. FieldTypeDescriptionheaderRequestHeaderCommon request header.leaseLeaseThe Lease to return again to the LeaseService. FieldTypeDescriptionheaderbosdyn.api.RequestHeaderCommon request header.command_iduint32Unique identifier for the command, supplied by nav command response. The NavigateToRequest can be used to command GraphNav to drive the robot to a selected waypoint. GraphNav will plan a path via the map which most efficiently will get the robot to the specified aim waypoint. The person is expected to periodically verify the standing of the NavigateTo command using the NavigationFeedbackRequest RPC. FieldTypeDescriptionheaderbosdyn.api.RequestHeaderCommon request header.pointLogpointLog point to question. FieldTypeDescriptionheaderbosdyn.api.RequestHeaderCommon request header.pointLogpointLog point to delete. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.tempsTemperatureList of all temperatures measured. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.eventsbosdyn.api.SystemFaultFault events which have been reported.degradationsGetBITStatusResponse.DegradationList of system states which will effect performance. FieldTypeDescriptionheaderbosdyn.api.ResponseHeaderCommon response header.namestringIdentifier of the screen used. Same as physical change.REQUEST_CYCLE_ROBOT4Power cycle the robotic. Same as bodily change.REQUEST_OFF_PAYLOAD_PORTS5Cut energy to the payload ports.REQUEST_ON_PAYLOAD_PORTS6Turn on energy to the payload ports.REQUEST_OFF_WIFI_RADIO7Cut energy to the hardware Wi-Fi radio.REQUEST_ON_WIFI_RADIO8Power on the hardware Wi-Fi radio. Note that not all Spot robots are compatible with all these commands. Check your robot's HardwareConfiguration in bosdyn.api.robot_state. The shank additionally has a forged-in code "N-9-1" visible close to the hanging gap, proven as a close-up within the middle inset. Programs, consisting of semantic and structural information, play an necessary position within the communication between humans and brokers. Towards studying general program executors to unify notion, reasoning, and choice making, we formulate program-guided tasks which require learning to execute a given program on the observed task specification. Furthermore, we propose the Program-guided Transformer , which integrates both semantic and structural guidance of a program by leveraging cross-attention and masked self-attention to move messages between the specification and routines in the program.
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