robotics
The Action Tokens Preserved Which Motion Was Nearer
ActionPiece reached 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus under one shared policy setup.
Summary
ActionPiece reached 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus under one shared policy setup.
Low reconstruction error can hide whether compressed robot actions preserve the physically meaningful order among nearby motions. ActionPiece adds physical rank consistency, supervising near-far relationships in the encoder, quantized features and codeword assignments. Under the same Qwen3-VL-4B training setup, it reported 94.8% on LIBERO, 68.8% on unseen LIBERO-Plus, 71.9% on SimplerEnv and 51.5% across VLA-Arena L0–L2. Ablations attribute gains to the paired ranking objectives, making relational fidelity a complement to pointwise token error.
Why it matters
ActionPiece reached 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus under one shared policy setup.
Limits and context
No additional limitation was separately recorded.
Key claims
ActionPiece reached 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus under one shared policy setup.
Evidence: source-2026-09-17-009
Sources
- arXiv preprint 2609.18487arXiv · primary research
Corrections
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