Discrete Action Tokenizers

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5 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. Token Communication-Assisted Collaborative Embodied Artificial Intelligence: Concepts, Framework, and Opportunities

    Oct 1, 2026Peng Yi, Ying-Chang LiangEmbodied Artificial IntelligenceSemantic Communications

    National Key Laboratory of Wireless Communications, and also with the Center for Intelligent Networking and Communications (CINC), University of Electronic Science and Technology of China (UESTC), Chengdu 611731, China · Institute of Fundamental and Frontier Sciences and the Center for Intelligent Networking and Communications (CINC), University of Electronic Science and Technology of China (UESTC), Chengdu 611731, China

  2. TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models

    Oct 1, 2026Keisuke Shirai, Tomohiro Motoda, Hanbit Oh +5Discrete Action TokenizersRobot Policies

    AIST

  3. Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching

    Sep 28, 2026Chenyu Zhang, Yuhang Cao, Daru Du +8Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    IIIS, Tsinghua University · Shanghai Qizhi Institute

  4. Direction-Scale Decomposition in Action Representation: Rethinking What to Tokenize for Vision-Language-Action Models

    Sep 24, 2026Yufei Duan, Hang Yin, Alberta Longhini +2Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    Department of Robotics, Perception and Learning, KTH Royal Institude of Technology, Stockholm, Sweden

  5. Beyond Reconstruction Error: Analytical and Data-Driven Action Tokenization for Autoregressive Vision-Language-Action Models

    Sep 22, 2026Yuxin Yang, Gaohan He, Changxue Guan +1Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    College of Artificial Intelligence, Southwest University · Ocean College, Zhejiang University · Tianfu Securities Co., Ltd.

  6. Don't Mask the Environment: Observation Supervision Changes How Agents Explore Under RL

    Sep 17, 2026Juzheng Zhang, Disha Makhija, Manoj Ghuhan Arivazhagan +2Supervised FinetuningDiscrete Action Tokenizers

    University of Maryland · AWS AI Labs

  7. ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models

    Sep 16, 2026Shijie Lian, Bin Yu, Zhaolong Shen +5Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    Huazhong University of Science and Technology · Zhongguancun Academy · DeepCybo +5

  8. M2Tok: Multi-head Multi-codebook Discrete Action Tokenization for Vision-Language-Action Models

    Sep 16, 2026Chunpu Xu, Zhixuan Liang, Yuhao Zhang +6Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    The Hong Kong Polytechnic University, HongKong SAR, China · Shanghai AI Laboratory, Shanghai, China · The University of Hong Kong, HongKong SAR, China +2

  9. WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning

    Aug 23, 2026Chunkai Yang, Andong Yang, Di Huang +2Discrete Action TokenizersEfficient World-Action Model

    School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China. · Department of Electronic Engineering, Tsinghua University, Beijing, China. · Institute for AI Industry Research, Tsinghua University, Beijing, China.

  10. Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models

    Aug 11, 2026Li Wenjie, Yash Jangir, Ignacy Stepka +3Discrete Action TokenizersContextual Grounding

    Carnegie Mellon University

  11. MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization

    Jul 28, 2026Yuhan Hu, Hugues Thomas, Peide Huang +3Robotic ManipulationDiscrete Action Tokenizers

    Apple

  12. Ordered Action Tokens for Visuomotor Policy Learning

    Jul 23, 2026Chaoqi Liu, Yue Zhao, Haonan Chen +4Discrete Action TokenizersVisuomotor Policy

    1Harvard University · 2Stanford University

  13. Native Video-Action Pretraining for Generalizable Robot Control

    Jul 9, 2026Qihang Zhang, Lin Li, Luyao Zhang +26Discrete Action TokenizersRobot Systems

  14. SA-VLA: State-aware tokenizer for improving Vision-Language-Action Models' performance

    Jun 29, 2026Tengyue Jiang, Chunpu Xu, Jiayue Kang +1Discrete Action TokenizersGeneralizable Vision-Language-Action Policies

    2East China University of Science and Technology · 3Hong Kong Polytechnic University · 4Xi’an University of Electronic Science and Technology +1

  15. NAC: Neural Action Codec for Vision-Language-Action Models

    Jun 19, 2026Ahad Jawaid, Yu XiangDiscrete Action TokenizersNeural Codecs

    The University of Texas at Dallas

  16. RepWAM: World Action Modeling with Representation Visual-Action Tokenizers

    Jun 11, 2026Junke Wang, Qihang Zhang, Shuai Yang +5Efficient World-Action ModelDiscrete Action Tokenizers

    Institute of Trustworthy Embodied AI, Fudan University · 2Robbyant, Ant Group · 3Hongkong University of Science and Technology

  17. X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining

    Jun 7, 2026Miracle Kang, Lights Shi, Lucy Liang +10Discrete Action TokenizersDiffusion-Based Vision-Language-Actions

    X SQUARE ROBOT · City University of Hong Kong · Tsinghua University

  18. Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models

    Jun 5, 2026Jinhao Wu, Shiduo Zhang, Yicheng Liu +9Discrete Action TokenizersClassical Planning

    1Nanjing University · 2Shanghai Innovation Institute · 3Fudan University +1

  19. LAST: Bridging Vision-Language and Action Manifolds via Gromov-Wasserstein Alignment

    May 27, 2026Huaihai Lyu, Chaofan Chen, Yuheng Ji +4Recent Vision-Language ModelsDiscrete Action Tokenizers

    1MAIS, Institute of Automation, Chinese Academy of Sciences. · 2Beijing Academy of Artificial Intelligence. · 3Peking University..

  20. UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling

    Apr 21, 2026Boyu Chen, Yi Chen, Lu Qiu +3Cross-Embodiment TransferHuman-To-Robot Transfer

    1XPENG Robotics · 2Tsinghua University · 3The University of Hong Kong

  21. EAST: Early Action Prediction Sampling Strategy with Token Masking

    Apr 20, 2026Iva Sović, Ivan Martinović, Marin OršićAction PredictionDiscrete Action Tokenizers

    Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia

  22. A Hierarchical Spatiotemporal Action Tokenizer for In-Context Imitation Learning in Robotics

    Apr 16, 2026Fawad Javed Fateh, Ali Shah Ali, Murad Popattia +4Discrete Action TokenizersImitation Learning

    Retrocausal, Inc., Redmond, WA 98052, USA