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cs.RO2026
CAP: Codebook-Aligned Prediction for Tokenized Robot Policies
Haoran Chen, Jingtian Ji, Samuel Wheeler +2
Action tokenization converts continuous robot actions into discrete symbols that can be modeled autoregressively. However, existing tokenizer-based policies typically ignore the to…
cs.RO2026
Beyond Reconstruction: What Matters in Action Tokenization for Robot Policies?
Haoran Chen, Jingtian Ji, Samuel Wheeler +2
Autoregressive action-token policies such as vision-language-action models require action tokenizers to translate discrete token sequences into precise control actions in continuou…
cs.RO2026
Flow-based Policy Adaptation without Policy Updates
Luzhe Sun, Jingtian Ji, Haoran Chen +2
Foundation models and other policies trained on large and diverse datasets can endow robots with semantic and task knowledge that would be difficult to acquire from task-specific d…