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Generally GC is not a good choice to get a soft real-time attribute. But Erlang is GC based language can be soft real-time.

Does it mean Erlang have almost no GC latency? How does it work?

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Even the hard real-time garbage collectors exists. E.g., lambda-the-ultimate.org/node/2393 –  SK-logic Apr 24 '12 at 15:20
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up vote 7 down vote accepted

Erlang processes don't share memory, each one has its own heap and they can be garbage-collected independently.

Many small heaps result in many small GC-pauses, rather than few big ones.

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Here's great write-up on Erlang's GC (which includes your point and makes a few others): prog21.dadgum.com/16.html –  scvalex Aug 5 '12 at 1:27
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