CAP: Codebook-Aligned Prediction for Tokenized Robot Policies
cs.RO
Submitted: 2026-10-06
Updated: 2026-10-06
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
- OpenVLA: An Open-Source Vision-Language-Action Model
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- BAKU: An Efficient Transformer for Multi-Task Policy Learning
- RT-1: Robotics Transformer for Real-World Control at Scale
- Behavior Generation with Latent Actions
- ActionCodec: What Makes for Good Action Tokenizers
- X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining
- RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
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