Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching
cs.RO, cs.AI, cs.LG
Submitted: 2026-09-28
Updated: 2026-09-28
Project page: https://chenyuzhangx.github.io/CATok/Abstract
Terminology
Sources
- RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
- OpenVLA: An Open-Source Vision-Language-Action Model
- PaLM-E: An Embodied Multimodal Language Model
- Octo: An Open-Source Generalist Robot Policy
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
- Motus: A Unified Latent Action World Model
- SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model
- Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training
- FAST: Efficient Action Tokenization for Vision-Language-Action Models
- FASTer: Toward Efficient Autoregressive Vision Language Action Modeling via Neural Action Tokenization
- OAT: Ordered Action Tokenization
- Exploring Diffusion Time-steps for Unsupervised Representation Learning
- Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow
- PaLI-X: On Scaling up a Multilingual Vision and Language Model
- PaliGemma: A versatile 3B VLM for transfer
- VLA-0: Building State-of-the-Art VLAs with Zero Modification
- Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
- SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
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