Shuaicheng Liu

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 the expected execution-time inputs of the VLA policy.