\documentclass[tikz,border=2pt]{standalone}
\usetikzlibrary{arrows.meta,positioning}
\definecolor{navy}{HTML}{19324A}
\definecolor{bluefill}{HTML}{EAF1F7}
\definecolor{teal}{HTML}{087F78}
\definecolor{tealfill}{HTML}{E6F4F1}
\definecolor{orange}{HTML}{B85D0F}
\definecolor{orangefill}{HTML}{FFF0DF}
\begin{document}
\begin{tikzpicture}[
  font=\sffamily\small,
  >=Latex,
  box/.style={draw=navy,fill=bluefill,rounded corners=1.5pt,
    align=center,minimum height=7mm,inner sep=2pt},
  local/.style={box,draw=teal,fill=tealfill},
  flow/.style={-{Latex[length=1.6mm]},draw=navy,line width=.6pt}]
\node[box,text width=20mm] (global) at (1.12,3.9)
  {Observed AV\\8-s maximum};
\node[box,text width=22mm] (thinker) at (4.13,3.9)
  {Frozen Thinker\\readout $G$};
\node[local,text width=20mm] (audio) at (1.12,2.9)
  {Recent 1-s\\mixed audio};
\node[local,text width=22mm] (aenc) at (4.13,2.9)
  {Frozen encoder\\local $A$};
\node[local,dashed,text width=20mm] (video) at (1.12,1.9)
  {Past person\\crops (optional)};
\node[local,dashed,text width=22mm] (venc) at (4.13,1.9)
  {Frozen encoder\\pooled $V$};
\node[box,text width=18mm] (head) at (7.05,2.9)
  {Validities +\\trained head};
\draw[flow] (global) -- (thinker);
\draw[flow,draw=teal] (audio) -- (aenc);
\draw[flow,draw=teal,dashed] (video) -- (venc);
\draw[flow] (thinker.east) -- ++(.18,0) |- (head.north);
\draw[flow,draw=teal] (aenc) -- (head);
\draw[flow,draw=teal,dashed] (venc.east) -- ++(.18,0) |- (head.south);
\node[box,text width=32mm] (out) at (5.7,.88)
  {$10\times3$ future activity\\0.2--2.0-s horizons};
\draw[flow] (head.south) -- (out.north);
\draw[draw=navy,line width=.5pt] (0,.12) -- (8.25,.12);
\node[anchor=west,text=navy] at (0,-.28) {Completed blocks};
\foreach \x in {0,1.04,2.08} {
  \draw[draw=navy,fill=bluefill] (\x,-.93) rectangle ++(.96,.35);
}
\draw[draw=orange,fill=orangefill] (3.12,-.93) rectangle ++(.96,.35);
\node[anchor=west,text=orange] at (4.25,-.76) {Observed tail};
\node[anchor=west,text=navy] at (0,-1.33)
  {Reuse completed payloads; query a temporary tail at $t_n$.};
\end{tikzpicture}
\end{document}