@article{trainingtimeactionconditioningforefficie,
  title = {Training-Time Action Conditioning for Efficient Real-Time Chunking},
  author = {Kevin Black and Allen Z. Ren and Michael Equi and Sergey Levine},
  year = {2025},
  eprint = {2512.05964},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.05964},
}