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...
Keisuke Shirai, Tomohiro Motoda, Hanbit Oh et al.
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