{
  "title": "Guide a successor with committed-prefix targets",
  "caption": "During control execution, RTC guides successor generation toward prefix commands that will already be committed. Guidance decreases in the overlap, and new-future actions have no constraint from the current chunk. This is an approximate guided constraint, not a hard prefix overwrite. The eight positions and arrival are illustrative. The author made this explanatory diagram. The playback is an example, and animation time is not measured runtime.",
  "alt": "RTC comparison: committed prefix, guided overlap and new future are regions of the next chunk. Guidance is approximate during controller execution.",
  "sources": [
    {
      "path": "content/blog/2026-05-25_from-pi0-to-pi07-open-pi-series/post.md",
      "description": "Article mechanism and retained citations"
    },
    "https://www.pi.website/research/real_time_chunking",
    "https://arxiv.org/abs/2506.07339",
    "https://arxiv.org/html/2506.07339v1"
  ],
  "limitations": [
    "The playback is an example. Playback time is not measured runtime.",
    "The author made the 3/2/3 positions and arrival time for this example. They are not measured control delay.",
    "Each generation update is a joint update of all successor positions. It does not use autoregressive generation for the cells.",
    "The guidance is approximate and clipped. The diagram does not claim exact prefix equality."
  ]
}