Author

Yi-Cheng Liu

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#artificial intelligence Preprint Sep 2026

Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching

CATok is proposed, a causal action tokenizer that reframes tokenization as a causally structured generative process, establishing a high-performance, scalable foundation for purely autoregressive VLA systems.

Chen-Yu Zhang, Yu-Hang Cao, Da-Ru Du et al. · 0 citations

Preprint Aug 2026

G0.5: One Autoregressive Stream for Robot Reasoning and Action

G0.5 is introduced, a pretrained autoregressive VLA in which a single transformer decoder emits reasoning and action tokens under a single objective, which exceeds state-of-the-art models across 7 independent regimes.

Yi-Cheng Liu, Zibin Dong, Baijun Ye et al. · 17 citations · ⚡2