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We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines.
Subroutine package for calculating with b-splines
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Action chunking as policy compression
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Rt-1: Robotics transformer for real-world control at scale
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Libero: Benchmarking knowledge transfer for lifelong robot learning
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