Inference-time RTC

\(\begin{aligned} \mathbf{v}_{\Pi\text{GDM}}(\mathbf{A}_t^\tau, \mathbf{o}_t, \tau) &= \mathbf{v}(\mathbf{A}_t^\tau, \mathbf{o}_t, \tau) + \min\left( \beta, \frac{1 - \tau}{\tau \cdot r_\tau^2} \right) \left( \mathbf{Y} - \widehat{\mathbf{A}}_t^1 \right)^\top \operatorname{diag}(\mathbf{W}) \frac{\partial \widehat{\mathbf{A}}_t^1}{\partial \mathbf{A}_t^\tau} \\ \text{where } \widehat{\mathbf{A}}_t^1 &= \mathbf{A}_t^\tau + (1 - \tau)\mathbf{v}(\mathbf{A}_t^\tau, \mathbf{o}_t, \tau), \\ r_\tau^2 &= \frac{(1 - \tau)^2}{\tau^2 + (1 - \tau)^2}. \end{aligned}\)

Training-time RTC

https://arxiv.org/pdf/2512.05964

add the previous chunk in delay d as priors to the action expert.

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