RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning. - Pablo Ortega-Kral; Eliot Xing; Arthur Bucker; Vernon Luk; Junseo Kim; Owen Kwon; Angchen Xie; Nikhil Sobanbabu; Yifu Yuan; Megan Lee; Deepam Ameria; Bhaswanth Ayapilla; et al. (CoRR, 2026)