{"id":12375,"date":"2026-09-18T17:01:39","date_gmt":"2026-09-18T09:01:39","guid":{"rendered":"https:\/\/infernews.com\/blog\/actionpiece-rethinking-action-tokenization\/"},"modified":"2026-09-18T17:01:39","modified_gmt":"2026-09-18T09:01:39","slug":"actionpiece-rethinking-action-tokenization","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/actionpiece-rethinking-action-tokenization\/","title":{"rendered":"ActionPiece\uff1a\u8a2d\u8a08\u52d5\u4f5c\u5206\u8a5e\u5668\uff0c\u5e6b\u6a5f\u68b0\u4eba\u5b78\u5f97\u66f4\u7a69"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/09\/pasted-b1d3cddb210f.jpg\" alt=\"DeepCybo, Zhongguancun Academy, and Zhongguancun Institute of Artificial Intelligence\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7576\u81ea\u56de\u6b78\u8996\u89ba\u8a9e\u8a00\u52d5\u4f5c\u6a21\u578b\uff08VLA\uff09\u628a\u6a5f\u68b0\u4eba\u52d5\u4f5c\u5207\u6210\u96e2\u6563 token \u518d\u4e00\u500b\u500b\u5410\u51fa\u4f86\uff0c\u6700\u5927\u7684\u96b1\u6027\u6210\u672c\u5f80\u5f80\u4e0d\u662f\u55ae\u4e00\u52d5\u4f5c\u7684\u8aa4\u5dee\uff0c\u800c\u662f\u76f8\u9130\u52d5\u4f5c\u4e4b\u9593\u7684\u7269\u7406\u8ddd\u96e2\u88ab\u6253\u4e82\u3002ActionPiece \u6b63\u662f\u91dd\u5c0d\u9019\u500b\u5361\u4f4d\u8a2d\u8a08\uff1a\u5b83\u628a\u52d5\u4f5c\u5207\u6210\u4e00\u584a\u516b\u6b65\u7684\u77ed\u5e8f\u5217\uff0c\u6bcf\u584a\u58d3\u6210 16 \u500b\u96e2\u6563 token\uff0c\u4e26\u8981\u6c42 tokenizer \u4e0d\u53ea\u91cd\u5efa\u52d5\u4f5c\uff0c\u9084\u8981\u4fdd\u7559\u300c\u7269\u7406\u6392\u5e8f\u4e00\u81f4\u6027\u300d\uff08physical rank consistency, PRC\uff09\u3002\u63db\u53e5\u8a71\uff0c\u5169\u500b\u672c\u4f86\u5f88\u63a5\u8fd1\u7684\u52d5\u4f5c\uff0c\u7de8\u78bc\u5f8c\u7684\u8ddd\u96e2\u4e5f\u8981\u7dad\u6301\u63a5\u8fd1\uff1b\u5169\u500b\u672c\u4f86\u5f88\u9060\u7684\u52d5\u4f5c\uff0c\u7de8\u78bc\u5f8c\u4e5f\u8981\u7dad\u6301\u8f03\u9060\u3002\u9019\u7a2e\u76e3\u7763\u8b93 token \u8868\u5fb5\u672c\u8eab\u5e36\u6709\u7269\u7406\u7d50\u69cb\uff0c\u800c\u4e0d\u662f\u7d14\u7cb9\u7684\u91cd\u5efa\u640d\u5931\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728 Libero\u3001Libero-Plus\u3001SimplerEnv \u8207 VLA-Arena \u56db\u7d44\u57fa\u6e96\u4e0a\uff0cActionPiece \u914d\u5408 Qwen3-VL-4B \u4f5c\u70ba\u7b56\u7565\u9aa8\u5e79\uff0c\u8dd1\u51fa 94.8%\u300168.8%\u300171.9%\uff0c\u4ee5\u53ca VLA-Arena L0 \u81f3 L2 \u5e73\u5747 51.5% \u7684\u6210\u529f\u7387\u3002Libero-Plus \u7684\u8a13\u7df4\u523b\u610f\u6392\u9664\u5176\u793a\u7bc4\u6578\u64da\uff0c\u56e0\u6b64\u9019\u9805\u6210\u7e3e\u66f4\u80fd\u53cd\u6620\u9077\u79fb\u8868\u73fe\uff0c\u800c\u4e0d\u662f\u55ae\u7d14\u8a18\u4f4f\u793a\u7bc4\u3002\u5f9e\u7d50\u679c\u53ef\u4ee5\u770b\u5230\uff0c\u91cd\u5efa\u4fdd\u771f\u5ea6\u8207 PRC \u4e4b\u9593\u4e26\u975e\u5b8c\u5168\u7b49\u50f9\uff1a\u6709\u4e9b tokenizer \u91cd\u5efa\u5f97\u5f88\u597d\uff0c\u4f46\u9130\u8fd1\u95dc\u4fc2\u4e00\u584c\u7cca\u5857\uff0c\u90e8\u7f72\u6210\u529f\u7387\u4e5f\u8ddf\u8457\u6389\u3002ActionPiece \u628a\u300c\u7269\u7406\u6392\u5e8f\u4fdd\u7559\u300d\u8207\u300c\u78bc\u5b57\u5206\u914d\u7684\u91cf\u5316\u6b63\u5247\u5316\u300d\u7d81\u5728\u4e00\u8d77\u8a13\u7df4\uff0c\u6b63\u597d\u540c\u6642\u58d3\u4f4f\u9019\u5169\u500b\u554f\u984c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9019\u500b\u9805\u76ee\u7684\u5be6\u969b\u610f\u7fa9\uff0c\u662f\u7d66\u6b63\u5728\u505a VLA 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\u524d\u5f8c\u7684\u7b56\u7565\u6210\u529f\u7387\u8207 PRC\uff1b\u55ae\u770b Libero 94.8% \u5bb9\u6613\u88ab\u4f4e\u4f30\uff0c\u56e0\u70ba\u91cd\u5efa\u8aa4\u5dee\u5c0f\u7684 tokenizer \u4e0d\u4e00\u5b9a\u4fdd\u7559\u9130\u8fd1\u7d50\u69cb\u3002\u539f\u59cb\u7a0b\u5f0f\u78bc\u8207 PhysBrain 1.5 \u7684\u6b0a\u91cd\u5c07\u5728\u5b98\u65b9\u9801\u9762\u91cb\u51fa\uff0c\u60f3\u6436\u5148\u8a66\u7684\u4eba\u53ef\u4ee5\u5148\u8b80\u8ad6\u6587\u4e26\u9396\u5b9a\u5f8c\u7e8c\u66f4\u65b0\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/deepcybo-physai.github.io\/ActionPiece\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/DeepCybo-PhysAI\/ActionPiece\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u53ef\u4ee5\u628a ActionPiece 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