arxivcs.ROcs.AIcs.LG2026-07-23
Ordered Action Tokens for Visuomotor Policy Learning
Chaoqi Liu, Yue Zhao, Haonan Chen, Xiaoshen Han, Jiawei Gao, Ehsan Adeli, et al.
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…