[step:Compare the likelihood-ratio statistic with the same quadratic form]Define the normalized constrained estimator
\begin{align*}
K_n := \sqrt{n}(\tilde{\beta}_n-\beta_0) \in \mathbb{R}^p.
\end{align*}
The stated regularity assumptions include existence and consistency of $\tilde{\beta}_n$ under no separation, hence $K_n=O_{\mathbb{P}}(1)$. Since $r$ is continuously differentiable near $\beta_0$ and $r(\beta_0)=0$, Taylor expansion of $r$ at $\beta_0$ gives, uniformly for $h=O_{\mathbb{P}}(1)$,
\begin{align*}
\sqrt{n}\,r(\beta_0+n^{-1/2}h)=R_0h+o_{\mathbb{P}}(1).
\end{align*}
Applying this with $h=K_n$ and using $r(\tilde{\beta}_n)=0$ gives
\begin{align*}
R_0K_n=o_{\mathbb{P}}(1).
\end{align*}
Thus the nonlinear null surface is replaced locally, at first order and uniformly on the $O_{\mathbb{P}}(1)$ region containing $K_n$, by the tangent space
\begin{align*}
T_0:=\{h \in \mathbb{R}^p : R_0h=0\}.
\end{align*}
Let $P_0:\mathbb{R}^p\to T_0$ denote the $I_0$-[orthogonal projection](/theorems/437), where the $I_0$ inner product is
\begin{align*}
(u,v)_{I_0}:=u^\top I_0v,
\qquad u,v\in\mathbb{R}^p.
\end{align*}
We use the following constrained local asymptotic normality maximizer result: if the local likelihood expansion is uniform on compact subsets, the constrained local maximizer is tight, the constraint set is locally approximated by a linear tangent space, and the limiting quadratic objective is strictly concave, then the constrained local maximizer converges to the maximizer of the limiting quadratic objective over that tangent space. Applying this result on the regular null manifold $\{\beta\in\Theta:r(\beta)=0\}$ with full-rank derivative $R_0$ gives
\begin{align*}
K_n=P_0H_n+o_{\mathbb{P}}(1).
\end{align*}
The hypotheses are verified as follows: the local likelihood expansion is uniform on compact subsets; $K_n$ is tight by constrained consistency; the Taylor expansion of $r$ identifies the feasible local directions with $T_0$ up to $o_{\mathbb{P}}(1)$; and the limiting quadratic objective is strictly concave because $I_0$ is positive definite.
We compute $P_0$ explicitly. The $I_0$-normal space to $T_0$ is $I_0^{-1}\operatorname{Range}(R_0^\top)$, because for every $a\in\mathbb{R}^q$ and every $v\in T_0$,
\begin{align*}
(I_0^{-1}R_0^\top a,v)_{I_0}=a^\top R_0v=0.
\end{align*}
Therefore $H_n-P_0H_n=I_0^{-1}R_0^\top\lambda_n$ for a vector $\lambda_n\in\mathbb{R}^q$. Imposing $R_0P_0H_n=0$ gives
\begin{align*}
0
&=R_0\left(H_n-I_0^{-1}R_0^\top\lambda_n\right) \\
&=R_0H_n-A_0\lambda_n,
\end{align*}
so $\lambda_n=A_0^{-1}R_0H_n$. Hence
\begin{align*}
H_n-K_n
=
I_0^{-1}R_0^\top A_0^{-1}R_0H_n+o_{\mathbb{P}}(1).
\end{align*}
Using the uniform local quadratic expansion at both $H_n$ and $K_n$, which is valid because both sequences are $O_{\mathbb{P}}(1)$, and using the first-order condition $\Delta_n=I_0H_n+o_{\mathbb{P}}(1)$, we obtain
\begin{align*}
\Lambda_n
&=
2\left(\ell_n(\hat{\beta}_n)-\ell_n(\tilde{\beta}_n)\right) \\
&=
(H_n-K_n)^\top I_0(H_n-K_n)+o_{\mathbb{P}}(1) \\
&=
(R_0H_n)^\top A_0^{-1}(R_0H_n)+o_{\mathbb{P}}(1).
\end{align*}
The final expression has already been shown to converge in distribution to $\chi_q^2$: the quadratic map $y\mapsto y^\top A_0^{-1}y$ is continuous, and adding an $o_{\mathbb{P}}(1)$ remainder does not change the distributional limit. Hence
\begin{align*}
\Lambda_n \xrightarrow{d} \chi_q^2.
\end{align*}[/step]