lerobot-policy-act-smooth 0.1.0

ACTSmooth extends ACT with prefix conditioning and async inference, eliminating inter-chunk discontinuities and inference latency stalls.

ACTSmooth

Delay conditioning (inference semantics)

ACTSmooth supports delay-conditioned inference where the action prefix comes from the previous chunk. In real systems, inference and execution latency mean some actions are already committed but not yet executed when a new observation arrives. The prefix therefore represents guaranteed future actions, and the model predicts a continuation chunk that is consistent with that queued prefix. This yields smoother control without waiting for the full prior chunk to finish.

References

• Zhao, 2023 - Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Tang, 2025 - VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference
• Black, 2025 - Training-Time Action Conditioning for Efficient Real-Time Chunking