#
Real-Time Chunking (RTC)

This module contains the LeRobot implementation of Real-Time Chunking (RTC), an inference-time technique for flow-matching based policies.

Note: RTC is not a policy itself, but rather an inference enhancement that works with flow-matching based policies including π₀, π₀.₅, and SmolVLA.

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Citation

If you use Real-Time Chunking in your work, please cite:

    @misc{openpi2024,
      author       = {Physical Intelligence Lab},
      title        = {OpenPI: PyTorch Implementation of π0 and π0.5 Policies},
      year         = {2024},
      publisher    = {GitHub},
      howpublished = {\url{https://github.com/Physical-Intelligence/openpi}},
      license      = {Apache-2.0}
    }

    @misc{black2025realtimeexecutionactionchunking,
          title={Real-Time Execution of Action Chunking Flow Policies},
          author={Kevin Black and Manuel Y. Galliker and Sergey Levine},
          year={2025},
          eprint={2506.07339},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2506.07339},
    }

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License

This implementation follows the Apache 2.0 License, consistent with the LeRobot project.

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