How to make robot movements smooth with 86 ms of inference time

[1g0rrr]

In your paper and my tests, inference takes about 86 ms on 4090.
But It's much longer than one frame with 50 fps or even 30 fps.
The robot moves jerkily because of this and stops waiting until a new inference have been made.
Is there a way to make the robot move smoothly? Can better GPU reduce inference time lower than frame time?