TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models
Autoregressive Vision-Language-Action models often represent continuous robot actions as discrete token sequences, enabling action prediction with standard next-token objectives. FAST has substantially improved this representation by compactly encoding action containing diverse temporal frequencies into relatively few tokens. However, while such compression reduces the number of action tokens required for autoregressive prediction, it does not necessarily improve the efficiency of policy learning from limited demonstrations. In particular, FAST typically assigns a single deterministic tokenization to each quantized action sequence, although multiple token sequences can represent and decod...
| Authors | Keisuke Shirai, Tomohiro Motoda, Hanbit Oh et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 October 2026 |
| Last updated at source | 1 October 2026 |
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