{"ID":2833073,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.04952","arxiv_id":"2512.04952","title":"FASTer: Toward Efficient Autoregressive Vision Language Action Modeling via Neural Action Tokenization","abstract":"Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often involves a trade-off between reconstruction fidelity and inference efficiency. We introduce FASTer, a unified framework for efficient and generalizable robot learning that integrates a learnable tokenizer with an autoregressive policy built upon it. FASTerVQ encodes action chunks as single-channel images, capturing global spatio-temporal dependencies while maintaining a high compression ratio. FASTerVLA builds on this tokenizer with block-wise autoregressive decoding and a lightweight action expert, achieving both faster inference and higher task performance. Extensive experiments across simulated and real-world benchmarks show that FASTerVQ delivers superior reconstruction quality, high token utilization, and strong cross-task and cross-embodiment generalization, while FASTerVLA further improves overall capability, surpassing previous state-of-the-art VLA models in both inference speed and task performance.","short_abstract":"Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often involves a trade-off between reconstruction fidelity and inference efficiency. We introduce FASTer, a unified framework for efficient and ge...","url_abs":"https://arxiv.org/abs/2512.04952","url_pdf":"https://arxiv.org/pdf/2512.04952v2","authors":"[\"Yicheng Liu\",\"Shiduo Zhang\",\"Zibin Dong\",\"Baijun Ye\",\"Tianyuan Yuan\",\"Xiaopeng Yu\",\"Linqi Yin\",\"Chenhao Lu\",\"Junhao Shi\",\"Luca Jiang-Tao Yu\",\"Liangtao Zheng\",\"Tao Jiang\",\"Jingjing Gong\",\"Xipeng Qiu\",\"Hang Zhao\"]","published":"2025-12-04T16:21:38Z","proceeding":"cs.CV","tasks":"[\"cs.CV\",\"cs.RO\"]","methods":"[]","has_code":false}