Real-Time EXPO-FT lets π0.5 handle latency and tackle dynamic tasks

Real-Time EXPO-FT enables π0.5 to tackle challenging dynamic tasks such as balancing a ball and striking a ball into a goal; the paper page is https://pd-perry.github.io/real-time-expo-ft/. Chelsea Finn explains that the approach handles latency in reinforcement learning by having the base VLA use older images while a small editing policy runs in real time, and states that it significantly outperforms RTC across comparisons.