Add Async Inference (#1196)

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>

docs/source/_toctree.yml

@@ -17,6 +17,8 @@
     title: Train a Robot with RL
   - local: hilserl_sim
     title: Train RL in Simulation
+  - local: async
+    title: Use Async Inference
   title: "Tutorials"
 - sections:
   - local: smolvla