Variable-length autoregressive latent sequences, trained as variational inference with a PPO-style objective, give robot policies adaptive test-time compute and yield a reusable action tokenizer.
The observations are (240, 240) images from a scene camera and a wrist camera
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Latent Memory Palace: Reasoning for Control as Autoregressive Variational Inference
Variable-length autoregressive latent sequences, trained as variational inference with a PPO-style objective, give robot policies adaptive test-time compute and yield a reusable action tokenizer.