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#vla
2 notes.
- Note2026.09Action Tokenization: Discretizing Continuous Actions
The chain "continuous action → discrete token → continuous action", unpacked into the background each link requires — π₀-FAST's discrete autoregressive route against FSQ, Binning and flow matching.
- Note2026.08Autoregressive Models: BERT / GPT and Prefix-LM
Which sequence-modelling paradigms exist, what separates BERT from GPT, and why robot VLAs such as π₀-FAST use a hybrid of the two called Prefix-LM.