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Refactor ExecuteReplicated to operate on sharded data directly (#5737)
* Refactor ExecuteReplicated to operate on sharded data directly * Remove old handlers * formatting * Improve naming and logging * update docstring * Remove obsolete unit tests * improve comment * Remove slow calls to get output shapes. * fix implicit sharding * remove declarations of input/output handlers * formatting * give everything a manual placeholder sharding * see if CI passes * formatting * Shard parameter and output handling * Use absl::BlockingCounter * formatting * fix merge * Assign valid output shardings * tune and document costs * formatting * implicitly replicate output to match outputhandler * clarify ReplicateShardedData * fix merge
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