import{s as K,n as ll,o as el}from"../chunks/scheduler.eb244325.js";import{S as al,i as tl,e as p,s,c as w,h as sl,a as m,d as a,b as n,f as O,g as C,j as _,k as q,l as nl,m as t,n as g,t as f,o as j,p as b}from"../chunks/index.3fe63ad3.js";import{C as il}from"../chunks/CopyLLMTxtMenu.88bde5f2.js";import{C as pl}from"../chunks/CodeBlock.934d290d.js";import{H as P,E as ml}from"../chunks/MermaidChart.svelte_svelte_type_style_lang.341974a5.js";function Ml(z){let i,d,I,x,M,A,c,Q,r,X="This module contains the LeRobot implementation of <strong>Real-Time Chunking (RTC)</strong>, an inference-time technique for flow-matching based policies.",v,T,V='<strong>Note</strong>: RTC is not a policy itself, but rather an inference enhancement that works with flow-matching based policies including <a href="../pi0/">π₀</a>, <a href="../pi05/">π₀.₅</a>, and <a href="../smolvla/">SmolVLA</a>.',E,R,N,o,W,J,F="If you use Real-Time Chunking in your work, please cite:",B,y,k,G,Y,U,S,h,D="This implementation follows the <strong>Apache 2.0 License</strong>, consistent with the LeRobot project.",H,u,L,$,Z;return M=new il({props:{containerStyle:"float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"}}),c=new P({props:{title:"Real-Time Chunking (RTC)",local:"real-time-chunking-rtc",headingTag:"h1"}}),o=new P({props:{title:"Citation",local:"citation",headingTag:"h2"}}),y=new pl({props:{code:"JTQwbWlzYyU3Qm9wZW5waTIwMjQlMkMlMEElMjAlMjBhdXRob3IlMjAlMjAlMjAlMjAlMjAlMjAlMjAlM0QlMjAlN0JQaHlzaWNhbCUyMEludGVsbGlnZW5jZSUyMExhYiU3RCUyQyUwQSUyMCUyMHRpdGxlJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTNEJTIwJTdCT3BlblBJJTNBJTIwUHlUb3JjaCUyMEltcGxlbWVudGF0aW9uJTIwb2YlMjAlQ0YlODAwJTIwYW5kJTIwJUNGJTgwMC41JTIwUG9saWNpZXMlN0QlMkMlMEElMjAlMjB5ZWFyJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTNEJTIwJTdCMjAyNCU3RCUyQyUwQSUyMCUyMHB1Ymxpc2hlciUyMCUyMCUyMCUyMCUzRCUyMCU3QkdpdEh1YiU3RCUyQyUwQSUyMCUyMGhvd3B1Ymxpc2hlZCUyMCUzRCUyMCU3QiU1Q3VybCU3Qmh0dHBzJTNBJTJGJTJGZ2l0aHViLmNvbSUyRlBoeXNpY2FsLUludGVsbGlnZW5jZSUyRm9wZW5waSU3RCU3RCUyQyUwQSUyMCUyMGxpY2Vuc2UlMjAlMjAlMjAlMjAlMjAlMjAlM0QlMjAlN0JBcGFjaGUtMi4wJTdEJTBBJTdEJTBBJTBBJTQwbWlzYyU3QmJsYWNrMjAyNXJlYWx0aW1lZXhlY3V0aW9uYWN0aW9uY2h1bmtpbmclMkMlMEElMjAlMjAlMjAlMjAlMjAlMjB0aXRsZSUzRCU3QlJlYWwtVGltZSUyMEV4ZWN1dGlvbiUyMG9mJTIwQWN0aW9uJTIwQ2h1bmtpbmclMjBGbG93JTIwUG9saWNpZXMlN0QlMkMlMEElMjAlMjAlMjAlMjAlMjAlMjBhdXRob3IlM0QlN0JLZXZpbiUyMEJsYWNrJTIwYW5kJTIwTWFudWVsJTIwWS4lMjBHYWxsaWtlciUyMGFuZCUyMFNlcmdleSUyMExldmluZSU3RCUyQyUwQSUyMCUyMCUyMCUyMCUyMCUyMHllYXIlM0QlN0IyMDI1JTdEJTJDJTBBJTIwJTIwJTIwJTIwJTIwJTIwZXByaW50JTNEJTdCMjUwNi4wNzMzOSU3RCUyQyUwQSUyMCUyMCUyMCUyMCUyMCUyMGFyY2hpdmVQcmVmaXglM0QlN0JhclhpdiU3RCUyQyUwQSUyMCUyMCUyMCUyMCUyMCUyMHByaW1hcnlDbGFzcyUzRCU3QmNzLlJPJTdEJTJDJTBBJTIwJTIwJTIwJTIwJTIwJTIwdXJsJTNEJTdCaHR0cHMlM0ElMkYlMkZhcnhpdi5vcmclMkZhYnMlMkYyNTA2LjA3MzM5JTdEJTJDJTBBJTdE",highlighted:`<span class="language-xml">@misc</span><span class="hljs-template-variable">{openpi2024,
  author       = {Physical Intelligence Lab}</span><span class="language-xml">,
  title        = </span><span class="hljs-template-variable">{OpenPI: PyTorch Implementation of π0 and π0.5 Policies}</span><span class="language-xml">,
  year         = </span><span class="hljs-template-variable">{2024}</span><span class="language-xml">,
  publisher    = </span><span class="hljs-template-variable">{GitHub}</span><span class="language-xml">,
  howpublished = </span><span class="hljs-template-variable">{\\url{https://github.com/Physical-Intelligence/openpi}</span><span class="language-xml">},
  license      = </span><span class="hljs-template-variable">{Apache-2.0}</span><span class="language-xml">
}

@misc</span><span class="hljs-template-variable">{black2025realtimeexecutionactionchunking,
      title={Real-Time Execution of Action Chunking Flow Policies}</span><span class="language-xml">,
      author=</span><span class="hljs-template-variable">{Kevin Black and Manuel Y. Galliker and Sergey Levine}</span><span class="language-xml">,
      year=</span><span class="hljs-template-variable">{2025}</span><span class="language-xml">,
      eprint=</span><span class="hljs-template-variable">{2506.07339}</span><span class="language-xml">,
      archivePrefix=</span><span class="hljs-template-variable">{arXiv}</span><span class="language-xml">,
      primaryClass=</span><span class="hljs-template-variable">{cs.RO}</span><span class="language-xml">,
      url=</span><span class="hljs-template-variable">{https://arxiv.org/abs/2506.07339}</span><span class="language-xml">,
}</span>`,wrap:!1}}),U=new P({props:{title:"License",local:"license",headingTag:"h2"}}),u=new ml({props:{source:"https://github.com/huggingface/lerobot/blob/main/docs/source/policy_rtc_README.md"}}),{c(){i=p("meta"),d=s(),I=p("p"),x=s(),w(M.$$.fragment),A=s(),w(c.$$.fragment),Q=s(),r=p("p"),r.innerHTML=X,v=s(),T=p("p"),T.innerHTML=V,E=s(),R=p("hr"),N=s(),w(o.$$.fragment),W=s(),J=p("p"),J.textContent=F,B=s(),w(y.$$.fragment),k=s(),G=p("hr"),Y=s(),w(U.$$.fragment),S=s(),h=p("p"),h.innerHTML=D,H=s(),w(u.$$.fragment),L=s(),$=p("p"),this.h()},l(l){const e=sl("svelte-u9bgzb",document.head);i=m(e,"META",{name:!0,content:!0}),e.forEach(a),d=n(l),I=m(l,"P",{}),O(I).forEach(a),x=n(l),C(M.$$.fragment,l),A=n(l),C(c.$$.fragment,l),Q=n(l),r=m(l,"P",{"data-svelte-h":!0}),_(r)!=="svelte-1pags6s"&&(r.innerHTML=X),v=n(l),T=m(l,"P",{"data-svelte-h":!0}),_(T)!=="svelte-1gnbupz"&&(T.innerHTML=V),E=n(l),R=m(l,"HR",{}),N=n(l),C(o.$$.fragment,l),W=n(l),J=m(l,"P",{"data-svelte-h":!0}),_(J)!=="svelte-wk1nta"&&(J.textContent=F),B=n(l),C(y.$$.fragment,l),k=n(l),G=m(l,"HR",{}),Y=n(l),C(U.$$.fragment,l),S=n(l),h=m(l,"P",{"data-svelte-h":!0}),_(h)!=="svelte-109225a"&&(h.innerHTML=D),H=n(l),C(u.$$.fragment,l),L=n(l),$=m(l,"P",{}),O($).forEach(a),this.h()},h(){q(i,"name","hf:doc:metadata"),q(i,"content",cl)},m(l,e){nl(document.head,i),t(l,d,e),t(l,I,e),t(l,x,e),g(M,l,e),t(l,A,e),g(c,l,e),t(l,Q,e),t(l,r,e),t(l,v,e),t(l,T,e),t(l,E,e),t(l,R,e),t(l,N,e),g(o,l,e),t(l,W,e),t(l,J,e),t(l,B,e),g(y,l,e),t(l,k,e),t(l,G,e),t(l,Y,e),g(U,l,e),t(l,S,e),t(l,h,e),t(l,H,e),g(u,l,e),t(l,L,e),t(l,$,e),Z=!0},p:ll,i(l){Z||(f(M.$$.fragment,l),f(c.$$.fragment,l),f(o.$$.fragment,l),f(y.$$.fragment,l),f(U.$$.fragment,l),f(u.$$.fragment,l),Z=!0)},o(l){j(M.$$.fragment,l),j(c.$$.fragment,l),j(o.$$.fragment,l),j(y.$$.fragment,l),j(U.$$.fragment,l),j(u.$$.fragment,l),Z=!1},d(l){l&&(a(d),a(I),a(x),a(A),a(Q),a(r),a(v),a(T),a(E),a(R),a(N),a(W),a(J),a(B),a(k),a(G),a(Y),a(S),a(h),a(H),a(L),a($)),a(i),b(M,l),b(c,l),b(o,l),b(y,l),b(U,l),b(u,l)}}}const cl='{"title":"Real-Time Chunking (RTC)","local":"real-time-chunking-rtc","sections":[{"title":"Citation","local":"citation","sections":[],"depth":2},{"title":"License","local":"license","sections":[],"depth":2}],"depth":1}';function rl(z){return el(()=>{new URLSearchParams(window.location.search).get("fw")}),[]}class hl extends al{constructor(i){super(),tl(this,i,rl,Ml,K,{})}}export{hl as component};
