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Steven Palma
8c3d4cf900
* chore(docs): move policies readme out of src code * chore(docs): create symlink for policy readme
39 lines
1.2 KiB
Markdown
39 lines
1.2 KiB
Markdown
# Real-Time Chunking (RTC)
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This module contains the LeRobot implementation of **Real-Time Chunking (RTC)**, an inference-time technique for flow-matching based policies.
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**Note**: RTC is not a policy itself, but rather an inference enhancement that works with flow-matching based policies including [π₀](../pi0/), [π₀.₅](../pi05/), and [SmolVLA](../smolvla/).
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---
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## Citation
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If you use Real-Time Chunking in your work, please cite:
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```bibtex
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@misc{openpi2024,
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author = {Physical Intelligence Lab},
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title = {OpenPI: PyTorch Implementation of π0 and π0.5 Policies},
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year = {2024},
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publisher = {GitHub},
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howpublished = {\url{https://github.com/Physical-Intelligence/openpi}},
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license = {Apache-2.0}
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}
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@misc{black2025realtimeexecutionactionchunking,
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title={Real-Time Execution of Action Chunking Flow Policies},
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author={Kevin Black and Manuel Y. Galliker and Sergey Levine},
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year={2025},
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eprint={2506.07339},
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archivePrefix={arXiv},
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primaryClass={cs.RO},
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url={https://arxiv.org/abs/2506.07339},
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}
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```
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---
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## License
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This implementation follows the **Apache 2.0 License**, consistent with the LeRobot project.
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