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import gradio as gr |
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import os |
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from app_utils import ( |
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update_scene_display, |
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update_log_display, |
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run_simulation, |
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update_history_display, |
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record_access, |
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cleanup_session, |
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TMP_ROOT, |
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MODEL_CHOICES, |
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SCENE_CONFIGS, |
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) |
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header_html = """ |
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<div style="display: flex; justify-content: space-between; align-items: center; width: 100%; margin-bottom: 20px; padding: 20px; background: linear-gradient(135deg, #528bdb 0%, #a7b5d0 100%); border-radius: 8px; box-shadow: 0 2px 8px rgba(0,0,0,0.1);"> |
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<div style="display: flex; align-items: center;"> |
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<img src="https://www.shlab.org.cn/static/img/index_14.685f6559.png" alt="Institution Logo" style="height: 60px; margin-right: 20px;"> |
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<div> |
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<h1 style="margin: 0; color: #2c3e50; font-weight: 600;">🤖 InternManip Model Inference Demo</h1> |
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<p style="margin: 4px 0 0 0; color: #5d6d7e; font-size: 0.9em;">Model trained on InternManip framework</p> |
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</div> |
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</div> |
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<div style="display: flex; gap: 15px; align-items: center;"> |
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<a href="https://github.com/InternRobotics" target="_blank" style="text-decoration: none; transition: transform 0.2s;" onmouseover="this.style.transform='scale(1.1)'" onmouseout="this.style.transform='scale(1)'"> |
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<img src="https://github.githubassets.com/images/modules/logos_page/GitHub-Mark.png" alt="GitHub" style="height: 30px;"> |
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</a> |
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<a href="https://huggingface.co/InternRobotics" target="_blank" style="text-decoration: none; transition: transform 0.2s;" onmouseover="this.style.transform='scale(1.1)'" onmouseout="this.style.transform='scale(1)'"> |
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<img src="https://huggingface.co/front/assets/huggingface_logo-noborder.svg" alt="HuggingFace" style="height: 30px;"> |
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</a> |
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<a href="https://huggingface.co/spaces/OpenRobotLab/InternNav-eval-demo" target="_blank"> |
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<button style="padding: 8px 15px; background: #3498db; color: white; border: none; border-radius: 4px; cursor: pointer; font-weight: 500; transition: all 0.2s;" |
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onmouseover="this.style.backgroundColor='#2980b9'; this.style.transform='scale(1.05)'" |
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onmouseout="this.style.backgroundColor='#3498db'; this.style.transform='scale(1)'"> |
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Go to InternNav Demo |
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</button> |
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</a> |
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</div> |
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</div> |
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""" |
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custom_css = """ |
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#simulation-panel { |
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border-radius: 8px; |
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padding: 20px; |
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background: #f9f9f9; |
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box-shadow: 0 2px 4px rgba(0,0,0,0.1); |
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} |
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#result-panel { |
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border-radius: 8px; |
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padding: 20px; |
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background: #f0f8ff; |
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} |
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.dark #simulation-panel { background: #2a2a2a; } |
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.dark #result-panel { background: #1a2a3a; } |
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.history-container { |
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max-height: 600px; |
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overflow-y: auto; |
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margin-top: 20px; |
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} |
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.history-accordion { |
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margin-bottom: 10px; |
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} |
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.logs-container { |
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max-height: 500px; |
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overflow-y: auto; |
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margin-top: 20px; |
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padding: 15px; |
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background: #f5f5f5; |
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border-radius: 8px; |
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} |
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.dark .logs-container { |
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background: #2a2a2a; |
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} |
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.log-table { |
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width: 100%; |
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border-collapse: collapse; |
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} |
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.log-table th, .log-table td { |
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padding: 8px 12px; |
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border: 1px solid #ddd; |
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text-align: left; |
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} |
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.dark .log-table th, .dark .log-table td { |
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border-color: #444; |
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} |
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""" |
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def start_session(req: gr.Request): |
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user_dir = os.path.join(TMP_ROOT, str(req.session_hash)) |
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os.makedirs(user_dir, exist_ok=True) |
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with gr.Blocks(title="InternManip Model Inference Demo", css=custom_css) as demo: |
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gr.HTML(header_html) |
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history_state = gr.State([]) |
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with gr.Row(): |
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with gr.Column(elem_id="simulation-panel"): |
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gr.Markdown("### Simulation Settings") |
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scene_dropdown = gr.Dropdown( |
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label="Choose a scene", |
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choices=list(SCENE_CONFIGS.keys()), |
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value="scene_1", |
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interactive=True |
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) |
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scene_description = gr.Markdown("") |
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scene_preview = gr.Image( |
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label="Scene Preview", |
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elem_classes=["scene-preview"], |
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interactive=False |
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) |
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scene_dropdown.change( |
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update_scene_display, |
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inputs=scene_dropdown, |
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outputs=[scene_description, scene_preview] |
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) |
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prompt_input = gr.Textbox( |
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label="Manipulation Prompt", |
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value="Move the milk carton to the top of the ceramic bowl.", |
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placeholder="Example: 'Move the milk carton to the top of the ceramic bowl.'", |
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lines=2, |
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max_lines=4 |
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) |
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model_dropdown = gr.Dropdown( |
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label="Chose a pretrained model", |
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choices=MODEL_CHOICES, |
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value=MODEL_CHOICES[0] |
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) |
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with gr.Accordion("Advance Settings", open=False): |
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max_steps = gr.Slider( |
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minimum=50, |
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maximum=500, |
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value=300, |
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step=10, |
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label="Max Steps" |
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) |
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submit_btn = gr.Button("Apply and Start Simulation", variant="primary") |
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with gr.Column(elem_id="result-panel"): |
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gr.Markdown("### Result") |
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video_output = gr.Video( |
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label="Live", |
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interactive=False, |
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format="mp4", |
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autoplay=True, |
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streaming=True |
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) |
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with gr.Column() as history_container: |
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gr.Markdown("### History") |
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gr.Markdown("#### History will be reset after refresh") |
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history_slots = [] |
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for i in range(10): |
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with gr.Column(visible=False) as slot: |
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with gr.Accordion(visible=False, open=False) as accordion: |
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video = gr.Video(interactive=False) |
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detail_md = gr.Markdown() |
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history_slots.append((slot, accordion, video, detail_md)) |
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with gr.Accordion("查看系统访问日志(DEV ONLY)", visible=False, open=False): |
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logs_display = gr.Markdown() |
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refresh_logs_btn = gr.Button("刷新日志", variant="secondary") |
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refresh_logs_btn.click( |
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update_log_display, |
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outputs=logs_display |
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) |
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gr.Examples( |
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examples=[ |
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["scene_1", "Move the milk carton to the top of the ceramic bowl.", "gr1", 300], |
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], |
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inputs=[scene_dropdown, prompt_input, model_dropdown, max_steps], |
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label="Examples" |
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) |
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submit_btn.click( |
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fn=run_simulation, |
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inputs=[scene_dropdown, prompt_input, model_dropdown, max_steps, history_state], |
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outputs=[video_output, history_state], |
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queue=True |
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).then( |
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fn=update_history_display, |
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inputs=history_state, |
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outputs=[comp for slot in history_slots for comp in slot], |
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queue=True |
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).then( |
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fn=update_log_display, |
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outputs=logs_display |
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) |
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demo.load( |
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start_session |
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).then( |
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fn=lambda: update_scene_display("scene_1"), |
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outputs=[scene_description, scene_preview] |
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).then( |
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fn=record_access, |
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inputs=None, |
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outputs=logs_display, |
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queue=False |
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).then( |
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fn=update_log_display, |
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outputs=logs_display |
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) |
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demo.queue(default_concurrency_limit=8) |
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demo.unload(fn=cleanup_session) |
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if __name__ == "__main__": |
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demo.launch() |
