Real-Time Action Chunking with Large Models

Introduced Real-Time Chunking (RTC) as a method to enable real-time execution of Vision-Language-Action (VLA) models without discontinuities. RTC treats chunk consistency as an inpainting problem, adapting diffusion/flow model inpainting algorithms to partially attend to overlapping timesteps between action chunks. This allows for continued execution of previous chunks while new ones are generated, significantly reducing pauses and improving robustness to inference latency (up to +200ms) without requiring training-time changes to existing VLA models.