ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models
ActionPiece improves action tokenization for vision-language-action models via physical rank consistency, reaching 94.8% on LIBERO with Qwen3-VL-4B.
The paper introduces physical rank consistency (PRC), a metric measuring whether tokenization preserves local physical distance rankings of actions after reconstruction. ActionPiece preserves physical action relationships through joint supervision of representation learning and quantization, alongside reconstruction losses. Under the same Qwen3-VL-4B policy training setup, ActionPiece achieves 94.8% on LIBERO, 68.8% on unseen LIBERO-Plus, 71.9% on SimplerEnv, and 51.5% across VLA-Arena L0-L2.
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