Autoregressive decoding (AR) with Transformer models is memory bandwidth bound at single stream inference, the typical deployment regime for on device text to speech (TTS). Real time streaming with Qwen3-TTS requires more than 200 sequential model calls per second, dominated by the inner loop MultiCodeDecoder that emits the 15 residual vector quantization (RVQ) codes per 80 ms audio frame. We propose RVQ position aware speculative decoding for the MultiCodeDecoder, attaining 2.47 accepted tokens per model call at $5\times10^{-4}$ percent added parameters and 10 to 20 percent per round speculation/verification overhead, reducing real time synthesis from 200 to 88 sequential model calls per second. The scheme is distributionally lossless under the deployed top-k sampling, and WER parity with the original system is consistent with this guarantee. We deliver 2 to 2.2x speedup for RVQ token generation with Qwen3-TTS 0.6B on recent iPhone and Apple Silicon Mac devices.
https://arxiv.org/abs/2609.37007
Mixture-of-Experts (MoE) architectures allow frontier language models to scale to trillions of parameters, but their deployment is constrained by massive memory footprints and memory-bandwidth limitations. Although modern accelerators provide Sparse Tensor Cores (SpTCs) that reduce weight storage and increase throughput through low-precision semi-structured sparsity, exploiting them for MoEs remains challenging because of substantial model-quality degradation and the lack of grouped sparse GEMM primitives. We present an end-to-end hardware-software co-design framework that compresses expert weights into hardware-native, low-precision sparse representations and accelerates their execution on SpTCs. Algorithmically, our framework relaxes discrete semi-structured support selection through continuous reparameterization, enabling differentiable joint optimization with quantized weights under a router-weighted reconstruction objective and scalable expert-parallel compression. Systemically, we develop a custom grouped sparse GEMM kernel tailored to low-precision sparse MoE inference on SpTCs. Across MoE models ranging from 30 billion to one trillion parameters, our framework improves state-of-the-art joint sparse-quantization accuracy by up to 4.35 percentage points while preserving 96.09% of the original model's performance. On NVIDIA B200 GPUs, our kernel outperforms the vendor baseline by up to $1.65\times$, increasing serving throughput by $1.18\times$ and reducing end-to-end latency by up to $4.03\times$. These results establish hardware-software co-design as a practical path toward scalable and efficient MoE deployment.
https://arxiv.org/abs/2610.02241
Inter-modality MRI translation aims to synthesize missing MRI modalities from available acquisitions, reducing the need for additional scanning while preserving clinically relevant anatomical information. However, existing image translation methods often learn intensity mappings without explicitly separating modality-invariant structural information from modality-specific appearance, which may lead to structural information loss or unrealistic image details. In this work, we propose S2T-Unet, a structure-to-style framework that explicitly models these two aspects. Specifically, vector quantization is introduced at the lower-level bottleneck to encode modality-invariant structural information using a learned discrete codebook. At higher levels, a modality transformation module uses decoder features to condition and transform encoder representations toward the target modality, thereby recovering modality-specific intensity and contrast information. Experiments on the IXI multi-contrast MRI dataset across four translation tasks demonstrate that S2T-Unet is comparable or outperform with state-of-art method.
https://arxiv.org/abs/2609.36866
We present IronLLM-0.6B, a 654M-parameter language model designed for efficient on-device inference. IronLLM-0.6B combines a hybrid attention architecture with X-MTP, a lightweight shared-KV multi-token prediction design that eliminates per-depth KV-cache replay and employs a lightweight verification head for rollback-free drafting, achieving a 1.48x decoding speedup. The model is pretrained on approximately 6.2 trillion tokens using a quality-oriented data pipeline and is further post-trained with Multi-Domain On-Policy Distillation to integrate capabilities from domain-specialized teachers. To better meet the low-latency requirements of on-device scenarios, IronLLM-0.6B adopts an Instruct-Only design. Evaluations show that IronLLM-0.6B achieves competitive performance relative to larger models such as Qwen3.5-0.8B and MiniCPM5-1B, while producing more concise responses on many tasks. We further present IronLLM-0.6B-Light, which replaces RMSNorm with Dynamic Tanh and simplifies several computationally expensive components to improve inference and quantization efficiency. Together, the IronLLM models provide an effective performance-efficiency trade-off for resource-constrained deployment.
https://arxiv.org/abs/2609.36860
Post-training quantization (PTQ) lowers deployment cost for multimodal large language models, but calibration typically reconstructs fixed sequences with local objectives. This overlooks autoregressive feedback: a quantization-induced token change redirects the prefix and changes future states. Yet on-policy coverage alone is insufficient because many decision mismatches barely affect future generation. We propose OnPTQ, an on-policy framework that calibrates on trajectories visited by the current quantized policy. On shared prefixes, OnPTQ identifies quantization-eroded boundaries, evaluates competing tokens through short counterfactual rollouts, and combines current discrepancy with branch consequence into a Decision--Consequence risk. The risk prioritizes critical states, while context anchoring and trajectory refresh preserve multimodal behavior and keep calibration aligned with the updated policy. We further derive a Decision--Consequence bound linking behavioral deviation to current policy discrepancy and action-conditioned future-value span. Across vision--language and omni-modal Qwen models under multiple low-bit settings, OnPTQ improves downstream performance and yields fewer correctness flips against the corresponding Dense/FP16 references, without changing the deployed inference graph.
https://arxiv.org/abs/2609.36828
Multi-Head Latent Attention (MLA) enables expressive multi-head attention with compact caches for its content and decoupled RoPE paths, yet cache memory still scales linearly with context length and batch size. In this work, we establish a systematic model of MLA's dual-path quantization errors, characterizing their distinct effects on attention-output distortion and explaining the pronounced amplification of RoPE-path errors. Guided by this analysis, we introduce QuantMLA, a function-aligned framework for low-bit dual-path quantization. We derive path-specific transformation spaces that preserve full-precision computation while remaining fully fusible into model parameters offline, eliminating online transformation overhead. Within these spaces, QuantMLA learns path-specific transformations with function-aligned objectives: attention-output reconstruction captures the content path's coupled matching and aggregation errors, while positional QK reconstruction preserves the RoPE-induced component of the attention logits and admits a theoretical bound on output distortion. Across four MLA model families, QuantMLA enables, to our knowledge, the first reported joint INT4 caching of the content and RoPE caches with minimal accuracy degradation. Further compressing the content cache to INT2 while retaining the RoPE key cache at INT4 maintains competitive performance on challenging reasoning and code benchmarks. We develop a native low-bit MLA attention kernel that integrates unpacking and dequantization directly into attention computation. The physical cache layout provides 3.59x compression at 128K context, while a cache-pressure serving workload achieves 5.168x higher whole-job output throughput than BF16. The code will be released upon acceptance.
https://arxiv.org/abs/2609.36760
Neural codecs encode continuous signals into compact sequences of discrete tokens, providing an interface for efficient transmission, storage, and token-based sequence modeling. This paradigm has been widely adopted in modern speech and audio frameworks; however, the biosignal domain still lacks a neural codec designed specifically for low-bitrate streaming and generalization across diverse downstream tasks. We present MyoCodec, a streaming neural codec designed for electromyography (EMG). Inspired by recent neural audio codecs, MyoCodec combines causal Transformers with residual vector quantization to encode continuous EMG signals into different levels of EMG representations spanning from continuous latent features to discrete tokens operating at 50 Hz. Trained on twelve public EMG datasets, MyoCodec achieves favorable performance in both intrinsic codec quality and representative downstream tasks, including typing (emg2qwerty), hand-pose (emg2pose), speech decoding (emg2speech), and speech-to-EMG synthesis (speech2emg). Across these tasks, MyoCodec exhibits strong performance against prior models while providing a compact and causal EMG representation. During streaming inference, it requires compute time of only 0.482 ms for each 20 ms frame, enabling real-time streaming. Also, the discrete token representation provided by MyoCodec has the potential to support integration into language-model based approaches, creating a path toward LLM-based interactive systems, where tokenized EMG representations are directly processed into such language or speech models. Code and model weights are released.
https://arxiv.org/abs/2609.36687
A single random Gaussian probe gives an unbiased estimate of the squared Frobenius norm of a layer's quantization error. The estimator is well-behaved because round-to-nearest error is spectrally flat. Across 1,683 tensors from a 35B MoE and a 9B dense model, effective dimensionality is 0.93 to 0.96 times the i.i.d. noise value of the same shape, and on the MoE the median is unchanged from 2-bit to 8-bit. The probe coefficient of variation is predictable from tensor shape. One probe measures per-tensor sensitivity to within 4 to 7%; twenty probes reach 1.3 to 1.4%.RAM applies the propagated form of this estimator to budget-targeted mixed-precision quantization with no calibration data. Gaussian probes carrying the network's own input statistics score every tensor at six bit-widths. A knapsack solver allocates bits under an exact byte budget, with guardrails against catastrophic 2-bit assignments. One probe pass serves any budget. Isolated and propagated scores rank tensors independently on Qwen3.5-35B-A3B (Spearman -0.01), yet the propagated probe rank-correlates 0.81 to 0.83 with the GPTQ layer objective from real activations, while the isolated estimator is uncorrelated with it. That objective is the wrong allocation target: at matched bytes on Qwen3.8-27B, a block-output probe beats a vendor IQ3_M mix and an oracle that allocates from the real-activation objective. On Qwen3-8B the propagated probe ties HAWQ-V2 at matched bytes. Across seven architectures from 8B to 122B, with probe timing up to a 400B model in nine minutes on one workstation, RAM reaches 3.5 to 13.6% lower median WikiText-2 perplexity than size-comparable uniform 4-bit builds on the tested MoE models. (Black Sheep Ai this http URL)
https://arxiv.org/abs/2609.33923
A critical prerequisite of generative recommendation is designing semantic identifiers (SIDs) that are both scalable to large item sets and efficiently learnable. Existing SID learning methods fundamentally rely on Top-1 hard assignment during vector quantization. While heuristic strategies -- such as clustering-based initialization or forced post-hoc collision resolution -- can artificially inflate codebook coverage, they often disrupt end-to-end semantic alignment and fail to address the underlying optimization bottleneck: sparse gradient propagation. In standard Top-1 assignment, gradients concentrate on a narrow subset of frequently selected codewords, leaving the majority inherently under-trained and causing severe SID collisions. To overcome this limitation natively without relying on complex initialization priors, we propose FineSID, a unified quantization framework that moves beyond Top-1 assignment by enabling fine-grained gradient propagation across the entire codebook. Instead of updating only a single selected codeword, FineSID distributes learning signals to all codewords in a soft, differentiable manner. This design promotes globally balanced codebook optimization while strictly preserving semantic consistency, effectively alleviating SID collisions and stabilizing training in large, high-dimensional codebooks. Extensive experiments on multiple public benchmarks demonstrate that FineSID is robust to initialization configurations and consistently improves both codebook utilization and recommendation accuracy. Our work provides a principled, initialization-agnostic solution for semantic identifier learning, advancing the practicality of generative recommendation.
https://arxiv.org/abs/2609.36670
Large language models make weight storage and memory traffic major inference costs, motivating low-precision formats that represent each weight with only a few bits. Such formats use a scale to map floating-point values into a small codebook; NVFP4 improves local range utilization by letting every 16 E2M1 weights share an E4M3 block scale. Choosing that scale is difficult in GPTQ because quantizing one column updates those that follow, so evaluating a block independently can misestimate its final reconstruction error. Large models pose a second challenge: full-precision weights, calibration activations, and second-order state cannot all remain on one accelerator, while assigning complete layers to devices leaves each time-consuming layer solve serial. We introduce \emph{Schur Replay}, a scale-selection algorithm that reproduces the GPTQ updates caused by each block scale and scores the resulting block error after accounting for compensation from unquantized columns. Separately, our execution infrastructure keeps only the active layer resident, tiers activations across device, host, and disk, retires full-precision layers after export, and distributes independent output rows across tensor-parallel ranks. Together, the algorithm and infrastructure attain $99.35\%$ and $100.84\%$ question-weighted recovery from BF16 across seven benchmarks on Qwen3.5-397B-A17B and Llama-3.3-70B-Instruct. On the 397B model, the infrastructure reduces measured per-layer time by $15.17\times$ over ModelOpt and $23.14\times$ over LLM Compressor, with lower memory used per GPU.
https://arxiv.org/abs/2609.36654
Quantization errors in video diffusion transformers can be amplified or attenuated by subsequent denoising updates, making local reconstruction error an incomplete predictor of final impact. We introduce PulseQuant, a 4-bit post-training quantization method that combines trajectory sensitivity with activation geometry to guide offline calibration. Isolated block--step interventions estimate propagation risk, which prioritizes sensitive trajectory states during row-radius selection. With these radii fixed, response-subspace correction uses neighboring-code edits to reduce residual components along dominant activation directions. Both stages preserve the original 4-bit weight representation. Controlled interventions show that short-horizon propagated error predicts final latent error more reliably than immediate block-output error, supporting calibration beyond local reconstruction objectives. Evaluations on Wan models, Self Forcing, and MiniMax-H3 demonstrate improvements in key consistency and dense-reference metrics while remaining competitive on other attributes across model scales and generation paradigms.
https://arxiv.org/abs/2609.33384
Zero-knowledge proofs are emerging as a promising approach for enabling private, verifiable LLM governance and auditing, where regulators, users, and auditors need to verify claims about training-data usage or LLM inference-time behavior, while model providers must protect proprietary model parameters. However, despite the growing interest in ZK-LLMs, the understanding of ZK-friendly quantization remains limited. This gap matters because in the ZK setting, quantization directly shapes the arithmetic structure, constraint complexity, and proving cost of ZK inference. ZK protocols operate over finite fields and incur costs that depend heavily on the number and type of arithmetic operations, nonlinearities, and lookup constraints. Understanding ZK-friendly quantization is therefore essential for making ZK-LLMs practical. In this work, we present the first systematic study of ZK-friendly quantization for LLMs. We first formalize the definition of ZK-friendly quantization, capturing the properties required for ZK proof generation. We then evaluate nine language models, including Qwen2.5-14B and the mixture-of-experts model Qwen3-30B-A3B, across a broad design space of weight, activation, and nonlinear lookup table precision. Our results show that activation precision is substantially more sensitive than weight precision, while nonlinear lookup approximations can become the dominant source of utility degradation. Also, we identify RMSNorm inverse-square-root lookups as a recurring bottleneck in several large models and recover near-baseline utility by selectively increasing precision only at the bottleneck. Finally, we show that reducing bit-width or lookup-table size does not necessarily yield proportional end-to-end proving savings, showing that conventional low-bit quantization heuristics do not directly translate to ZK proving efficiency and motivating operator-aware precision selection.
https://arxiv.org/abs/2609.36437
Dense retrieval, the key component of Retrieval Augmented Generation (RAG), retrieves the most relevant documents by comparing dense vector representations of queries and passages from a large corpus. In privacy-sensitive applications, the server observes the query and controls which evidence is returned, creating both confidentiality and integrity risks. We formulate private dense retrieval as providing query privacy and retrieval integrity against a malicious server, and develop a two-round cryptographic protocol that provides both guarantees. Our protocol reduces private and verifiable retrieval to multiplication of a committed matrix by an encrypted vector and uses low-bit quantization to make this computation practical. We evaluate the resulting trade-off between cryptographic cost, retrieval quality, and downstream RAG accuracy across six embedding models, four language models, and corpora of up to 2.68 million passages. Our results show that, with a clipped quantizer, three-bit quantization largely preserves retrieval quality and downstream accuracy, while a private query over a corpus the size of a clinical reference requires one to three minutes of server time. These results suggest that private dense retrieval is already practical for moderately sized, privacy-sensitive corpora when minute-scale latency is acceptable.
https://arxiv.org/abs/2609.36376
Learned rotations play an important role in enabling low-bit weight and activation quantization of large language models by smoothing outliers in the activation distribution. State-of-the-art approaches include gradient-based procedures such as SpinQuant and computationally friendlier gradient-free approaches such as DartQuant, but both remain hard to scale to the largest architectures. To address the computational bottlenecks in gradient-free rotation learning, we introduce two ideas for efficiency, (i) a data selection procedure which reduces the required number of calibration data points, and (ii) an exact reduction of the associated optimization on this reduced calibration set. Our data selection procedure exploits the geometric structure of the convex hull of the activations. Using this idea, we show that a carefully selected calibration set with several orders of magnitude fewer activations than state-of-the-art rotation-based methods can match their performance in low-bit quantization settings. Under this extreme data efficiency, the selected activations span an $r$-dimensional subspace with $r<d$, making optimization over a $d\times d$ rotation equivalent to optimizing a $d\times r$ matrix on the Stiefel manifold. We solve this reduced problem using an efficient ADMM algorithm that iteratively employs thin matrix updates at every step, hence the name ThinQuant. For Llama-3-70B with W4A4KV4 quantization, ThinQuant completes the entire rotation calibration in under 12 minutes and achieves a WikiText-2 perplexity of 5.63, compared with 7.55 for DartQuant, which requires 111 minutes. Unlike SpinQuant and DartQuant, ThinQuant also scales to Llama-3.1-405B on a single H200 GPU, completing rotation calibration in just over 2 hours and achieving WikiText-2 perplexity of 2.97 at W4A4, compared with 3.48 for GPTAQ+QuaRoT.
https://arxiv.org/abs/2609.36120
Uniform random rotations are an effective preprocessing step for quantization: they make normalized coordinate distributions approximately Gaussian, enabling the use of codebooks optimized offline. We introduce TORQUE, a framework that improves on previous quantization works that use random rotations by jointly optimizing how many and which coordinates to preserve at high precision both before and after rotation, under a fixed overall expected bit budget. Intuitively, before rotation, preserving large input coordinates at high precision can reduce overall error by preventing the rotation from spreading their values across many coordinates. Likewise, after rotation, preserving a small fraction of the largest-magnitude coordinates at high precision allows the remaining values to be quantized more accurately using codebooks optimized offline for the resulting truncated Gaussian distribution. We derive a quantization error upper bound and prove that top-$k$ pre-rotation retention minimizes it for each $k$. This reduces the search over coordinate subsets to an optimization over $k$, enabling a fast optimizer that uses offline codebooks and parallel parameter selection for practical implementation. We demonstrate an improved tradeoff between reconstruction accuracy and storage cost through numerical evaluation under the Gaussian model and experiments on nearest-neighbor retrieval, KV-cache compression, and activation compression.
https://arxiv.org/abs/2609.36032
AI tutoring could markedly improve learning outcomes for students in developing regions such as Vietnam, yet the two obvious paths both fall short. Cloud assistants such as ChatGPT route sensitive student data to foreign servers---violating data-sovereignty laws such as Vietnam's Decree 53---and, pre-trained on Western-centric corpora, are not organized around the national textbook curriculum, so their knowledge of local content is unsystematic and frequently hallucinated. Self-hosting an open model keeps data on-premise but hits a two-fold wall: post-training quantization (AWQ, GPTQ) tames the static weight footprint, yet the dynamic KV cache and prefill latency of long tutoring contexts still cause out-of-memory failures and slow responses on consumer GPUs, while the model keeps hallucinating on region-specific material. We present DeepEdu-v1, an AI-tutoring system for Vietnamese education built on SCALE (Self-improving Context-Aware Learning Engine), a framework with two innovations. First, a long-context inference engine amortizes token selection from per-sub-chunk to per-cluster granularity; on long-context retrieval it issues x7.7 fewer retrieval calls than a state-of-the-art selective-attention baseline, cutting prefill latency (TTFT) by roughly 35% while matching or improving task accuracy. Second, a self-improving agentic layer continuously curates a verified playbook from past interactions instead of fine-tuning, a design intended to progressively reduce reliance on dominant-language priors as trustworthy local knowledge accumulates. In its deployed configuration, DeepEdu achieves a nearly x2 TTFT speedup over standard vLLM serving and lifts agentic accuracy from 70.0% to 79.5% on complex tasks, with the strongest per-track gains across financial-reasoning and interactive-agent benchmarks.
https://arxiv.org/abs/2609.31568
Whether an information extraction pipeline should process page images or parsed text depends on the document, and the answer flips across the layout spectrum. We study this trade-off under a constraint that rules out (closed) cloud services: privacy-sensitive documents processed on-premise by small ($\le 8\mathrm{B}$ parameter) text-only and vision--language models, evaluated on both accuracy and energy over a design space spanning input representation, model family, and inference configuration. Benchmarking on the near-plain-text Kleister-NDA contracts and the layout-rich VRDU forms, we find that batching is the dominant energy lever, cutting energy per page by 38-85% at no cost in accuracy, while FP8 quantization saves 27-32% when requests are served one at a time but less than 1mWh per page (9-19%) once batching is applied. Preprocessing dominates what remains: neural OCR costs $17\times$ more energy per page than classical OCR and never reaches the Pareto frontier. Which representation wins flips with the type of document: vision--language models on layout-rich documents and small text-only models with a cheap parser on near-plain text, where they are both more accurate and cheaper than any vision--language configuration. Our work yields concrete guidelines for energy-efficient, privacy-compliant local information extraction.
https://arxiv.org/abs/2609.31341
Residual Vector Quantization turns continuous representations into discrete, multi-level token sequences. Yet most methods operate in Euclidean space, despite the coarse-to-fine structure of the resulting codes and the latent hierarchies present in many data domains. Hyperbolic geometry offers a natural alternative for hierarchical representations, but naive hyperbolic extensions introduce geometric inconsistencies: non-associative hyperbolic addition prevents consistent residual aggregation, while standard straight-through gradient estimation ignores the geometry of the latent space. We propose a geometry-aware hyperbolic residual quantization that addresses these issues in both the forward and backward passes. In the forward pass, Hyperbolic Residual Aggregation restores the telescoping behavior of residual quantization on the Poincare ball. In the backward pass, a discounted Hyperbolic Straight-Through Estimator routes the reconstruction gradient through the quantizer as a single geometric block, avoiding unstable recursive gradient transport across residual stages. Evaluations on hierarchical prediction, recommendation, image tokenization, and neural audio coding tasks show that our method improves the stability and structural organization of hyperbolic residual codes over naive hyperbolic baselines. At the same time, we observe a clear structure-compression trade-off: Euclidean residual quantization remains preferable for pure compression, while geometry-aware hyperbolic quantization is most useful for hierarchically organized discrete latent spaces.
https://arxiv.org/abs/2609.26342
Large vocabularies make output heads a substantial inference cost in small language models. We propose softmax reparameterization, a post-training method that selects a functionally equivalent output head before quantization. The method subtracts a scalar multiple of the vocabulary-row mean from every output row and selects the coefficient by validation KL separately for RTN, activation-weighted MSE, and full-Hessian GPTQ. This one-dimensional search includes the original head and fixed mean-centering, preserves the full-precision softmax distribution, and leaves the trained decoder unchanged; a rank-one correction handles nonlinear logit paths such as soft-capping. Across seven heads, W4 gains concentrate where baseline quantization substantially distorts predictions: on Phi-4-mini, AW-MSE KL falls from 0.936 to 0.256. The gains survive stronger GPTQ calibration and remain complementary to exact per-channel scaling and affine quantization. Across four heads and three W4 quantizers, frozen WikiText-selected coefficients also transfer to C4 and OpenWebMath, outperforming mean-centering in all 18 comparisons where the frozen coefficient differs from $1$ and matching it in the remaining six. At W2, used as a compression stress test, benefits broaden across nearly the full model--quantizer matrix. Matched residual analysis shows that improved fidelity can accompany greater logit reconstruction error while reducing the residual's Fisher-weighted cost. For shift-compatible heads, reparameterization adds no inference operation and preserves packed W4 execution: with the decoder held in BF16, quantizing the Phi output head reduces batch-one generation latency by 10.8% relative to the BF16-head baseline.
https://arxiv.org/abs/2609.31291
Vision-language-action (VLA) models rely on discrete action tokenizers to bridge continuous robot control and autoregressive sequence modeling, yet existing tokenizers often trade off between compression, latency, and downstream performance. We revisit this design through the lens of neural audio codecs - convolutional encoder-decoder architectures with residual vector quantization that serve as the standard front end for audio foundation models. Motivated by their success, we introduce the Neural Action Codec (NAC), which treats short robot action trajectories as multi-channel 1D signals and compresses them using a multi-scale RVQGAN architecture. With adaptations to the action representation, compression rate, and reconstruction objective, audio-codec-style models can autoencode actions with high fidelity without substantial architectural changes. NAC provides a compact, ordered token space via offset codebooks, enabling standard autoregressive policies to operate over short, structured sequences. Meanwhile, a Vocos-style decoder with an ISTFT head and adversarial discriminators recovers action trajectories. Across LIBERO-10, RoboMimic, and a suite of real-world manipulation tasks, NAC achieves high reconstruction fidelity and higher average success rates than binning, FAST, and prior VQ-based tokenizers at comparable or better compression rates. These results demonstrate that repurposed neural audio codecs offer a strong, practical backbone for learned action tokenization in modern VLAs.
https://arxiv.org/abs/2606.21372