Author

Yi Zou

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Jul 2026

FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking

This paper proposes FutureRTC, a plug-and-play adaptation framework that predicts execution-time observations and states for asynchronous VLA control without modifying the underlying policy, and introduces a policy consistency loss to align the action chunks generated from predicted contexts with those produced under t...

Hai Jiang, Yi Zou, Binbin Liang et al. · arXiv.org · 1 citation