Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface for modern visuomotor policies. Existing approaches either rely on analytical discretization methods that produce prohibitively long token sequences or learned latent…
In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks, BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points…