Chunpu Xu

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

Tengyue Jiang, Chunpu Xu, Jiayue Kang, Yao Mu

Discrete action tokenization provides a compact interface for autoregressive VLA policies, but accurately recovering continuous robot actions from discrete codes remains challenging. Existing tokenizers typically map each discrete code to a fixed continuous action prototype, igno…Read more