Support Train-Time RTC - #39
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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Store rtc_prev_actions in client action space and route them back through the input transforms, so DeltaActions re-anchors the frozen prefix to the state of the observation being inferred, as during training. Bumps openpi past the d15 configs and the make_example_actions removal. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Use an EMA of first_executed_index (ceiled) as the d param, falling back to ceil(total_latency * control_hz) + 1 before the first ack. Realized delay is preserved across resets like the latency tracker. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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