Feat/xvla rtc

[TomCC7]

Title

Short, imperative summary (e.g., "fix(robots): handle None in sensor parser"). See CONTRIBUTING.md for PR conventions.

Type / Scope

• Type: (Bug | Feature | Docs | Performance | Test | CI | Chore)
• Scope: (optional — name of module or package affected)

Summary / Motivation

• One-paragraph description of what changes and why.
• Why this change is needed and any trade-offs or design notes.

Related issues

• Fixes / Closes: # (if any)
• Related: # (if any)

What changed

• Short, concrete bullets of the modifications (files/behaviour).
• Short note if this introduces breaking changes and migration steps.

How was this tested (or how to run locally)

• Tests added: list new tests or test files.
• Manual checks / dataset runs performed.
• Instructions for the reviewer

Example:

• Ran the relevant tests:

  pytest -q tests/ -k <keyword>

• Reproduce with a quick example or CLI (if applicable):

  lerobot-train --some.option=true

Checklist (required before merge)

• Linting/formatting run (pre-commit run -a)
• All tests pass locally (pytest)
• Documentation updated
• CI is green

Reviewer notes

• Anything the reviewer should focus on (performance, edge-cases, specific files) or general notes.
• Anyone in the community is free to review the PR.