arXiv:2608. 10484v1 Announce Type: cross Abstract: Action verbs describe not only the physical outcomes of actions, but also how those actions are performed.
By Li Wenjie, Yash Jangir, Ignacy Stepka, Yash Agarwal, Marion Kipsang, Yonatan Bisk
The paper introduces M2Tok, a Multi-head Multi-codebook Action Tokenizer that reduces reconstruction loss for continuous action signals by decomposing latent features into multiple heads and assigning independent codebooks to each. This design expands representational expressivity, leading to lower reconstruction error and higher success rates in Vision‑Language‑Action models evaluated on RoboTwin, Simpler‑Env, and zero‑shot real‑world tasks. Ablation studies confirm the effectiveness of both multi‑head and multi‑codebook mechanisms.
By Chunpu Xu, Zhixuan Liang, Yuhao Zhang, Chi-Min Chan, Jessie Wang, Yang Xiao, Mengkang Hu, Xiaokang Yang, Yao Mu
The paper introduces ${M}^2$Tok, a Multi-head Multi-codebook Action Tokenizer that reduces reconstruction loss in discrete action tokenization for Vision‑Language‑Action models. By decomposing latent action features into multiple heads and assigning independent codebooks to each, the tokenizer expands representational expressivity and improves policy performance. Experiments on RoboTwin, Simpler‑Env, and zero‑shot real‑world tasks show superior reconstruction fidelity and higher success rates compared to prior methods.
By Chunpu Xu, Zhixuan Liang, Yuhao Zhang, Chi-Min Chan, Jessie Wang, Yang Xiao, Mengkang Hu, Xiaokang Yang, Yao Mu
arXiv:2607. 09818v1 Announce Type: cross Abstract: Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents.
By Shengzhuo Yang, Ronghao Yu, Chuanjie Lv, Linpeng Peng, Hang Yu, Jie Ren, Jiajun Lv, Yong Liu
arXiv:2606. 14752v1 Announce Type: cross Abstract: Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control.
By Xirui Kang, Yanpei Shi, Lucy Liang, Roy Gan, Dongxiu Liu, Pushi Zhang, Danpeng Chen, Xiaoyi Qin, Yinan Zheng, Jinliang Zheng, Hao Wang, Xianyuan Zhan, Hang Su
arXiv:2607. 21670v1 Announce Type: cross Abstract: Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface for modern visuomotor policies.
By Chaoqi Liu, Yue Zhao, Haonan Chen, Xiaoshen Han, Jiawei Gao, Ehsan Adeli, Yilun Du