@article{discretertcdiscretediffusionpoliciesaren,
  title = {DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors},
  author = {Pengcheng Wang and Kaiwen Hong and Chensheng Peng and Katherine Driggs-Campbell and Masayoshi Tomizuka and Chenfeng Xu and Chen Tang},
  year = {2026},
  eprint = {2604.25050},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.25050},
}