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VQ-VLA: Improving Vision-Language-Action Models via Scaling Vector-Quantized Action Tokenizers
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VQ-VLA: Improving Vision-Language-Action Models via Scaling Vector-Quantized Action Tokenizers
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In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches. This extensive dataset enables our tokenizer to capture rich spatiotemporal dynamics, resulting in a model that not only accelerates inference but also generates smoother and more coherent action outputs. Once trained, the tokenizer can be seamlessly adapted to a wide range of downstream tasks in a zero-shot manner, from short-horizon reactive behaviors to long-horizon planning. A key finding of our work is that the domain gap between synthetic and real action trajectories is marginal, allowing us to effectively utilize a vast amount of synthetic data during training without compromising real-world performance. To validate our approach, we conducted extensive experiments in both simulated environments and on real robotic platforms. The results demonstrate that as the volume of synthetic trajectory data increases, the performance of our tokenizer on downstream tasks improves significantly-most notably, achieving up to a 30% higher success rate on two real-world tasks in long-horizon scenarios. These findings highlight the potential of our action tokenizer as a robust and scalable solution for real-time embodied intelligence systems, paving the way for more efficient and reliable robotic control in diverse application domains.Project website: https://xiaoxiao0406.github.io/vqvla.github.io
Forward citations
Cited by 14 Pith papers
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NAC: Neural Action Codec for Vision-Language-Action Models
NAC adapts multi-scale RVQGAN audio codecs with kinematic-specific losses to produce ordered action tokens that yield lower reconstruction error and higher task success than prior tokenizers in VLA models.
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Kepler-Encoder-v0.1: Towards a Multimodal Embedding Model for Robots
A self-supervised multimodal encoder trained with vision, proprioception, and force yields a vision-only latent that recovers end-effector state and force above vision baselines on RH20T, with modest absolute force accuracy.
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EDAR: Learning Environment-Dependent Action Representations for Robotic Manipulation
Action latents supervised by both control reconstruction and environment-conditioned visual consequences outperform trajectory-centric tokenizers for robotic manipulation, especially long-horizon tasks.
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ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation
ARP enhances quantized skill abstractions in imitation learning by coupling visual grounding via contrastive alignment with execution refinement via IRH, reporting SOTA results on LIBERO, Meta-World, and real-robot tasks.
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA success rates by manually supervising separate attention heads in the action decoder with auxiliary signals for task-relevant factors.
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PoseVLA: Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
Pretraining a vision-language model to output discrete 3D pose tokens on large non-robotic data, before training a robot action head, improves downstream manipulation success and data efficiency.
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PoseVLA: Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
Pose-VLA uses a decoupled two-stage pre-training with discrete pose tokens to extract universal 3D spatial priors from 3D datasets and robotic trajectories, achieving 79.5% success on RoboTwin 2.0 and 96.0% on LIBERO.
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Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-worl...
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Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training
A 6K-question embodied-reasoning benchmark plus a flow-matching action tokenizer let one 3B vision-language model reason and manipulate better than continuous- or discrete-action VLA baselines.
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Continually Evolving Skill Knowledge in Vision Language Action Model
Stellar VLA achieves continual learning in VLA models by maintaining a growing knowledge space and routing tasks to specialized experts conditioned on semantic relations, delivering strong LIBERO benchmark results wit...
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From Abstraction to Instantiation: Learning Behavioral Representation for Vision-Language-Action Model
BehaviorVLA introduces a symmetric encoder-decoder architecture with causal Mamba and phase conditioning to learn unified long-horizon behavioral representations for improved generalization in VLA models.
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RynnVLA-002: A Unified Vision-Language-Action and World Model
A single model that jointly predicts robot actions and future images outperforms separate action-only and video-only models on LIBERO and real SO100 manipulation tasks.
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From Abstraction to Instantiation: Learning Behavioral Representation for Vision-Language-Action Model
BehaviorVLA learns long-horizon behavioral representations via causal Mamba encoder and phase-conditioned decoder, reporting SOTA results of 58% on RoboTwin 2.0, 98% on LIBERO, 4.36 on CALVIN, and matching OpenVLA-OFT...
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