[relay][pass] Annotation for heterogeneous compilation (#2361)
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include/tvm/relay/attrs/annotation.h
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include/tvm/relay/attrs/device_copy.h
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python/tvm/relay/annotation.py
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python/tvm/relay/op/annotation/__init__.py
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python/tvm/relay/op/annotation/_make.py
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python/tvm/relay/op/annotation/annotation.py
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src/relay/op/annotation/annotation.cc
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src/relay/op/device_copy.cc
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src/relay/pass/device_annotation.cc
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tests/python/relay/test_pass_annotation.py
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