Soft RTC uses partially denoised states for overlap tokens and token-wise blending to reduce action delta and jerk by ~9% versus hard RTC while matching solve rates on Kinetix levels.
Real-Time Robot Execution with Masked Action Chunking.arXiv preprint arXiv:2601.20130, 2026
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Action-Prior Denoising for Smooth Real-Time Chunking
Soft RTC uses partially denoised states for overlap tokens and token-wise blending to reduce action delta and jerk by ~9% versus hard RTC while matching solve rates on Kinetix levels.