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.

Citation

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

bibtex

@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},
}

License

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