Designed for the fourth and fifth-generation Apple TV models, the new tvOS 12.1 beta can be downloaded onto the Apple TV via a profile that's installed using Xcode. Subsequent betas can be downloaded over-the-air.
We're not yet sure what fixes and changes the tvOS 12.1 update might bring, but it's likely to focus on bugs that have been discovered since the release of tvOS 12. No new features were discovered in the first several tvOS 12.1 betas.
Apple's tvOS updates have historically been minor in scale, and Apple does not often provide us with detailed notes outlining what's new, but we'll update this post should any changes be found in the sixth beta.
Update: Apple has released a new version of tvOS 12.1 to its public beta testing group.