@article{beastefficienttokenizationofbsplines,
  title = {BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning},
  author = {Hongyi Zhou and Weiran Liao and Xi Huang and Yucheng Tang and Fabian Otto and Xiaogang Jia and Xinkai Jiang and Simon Hilber and Ge Li and Qian Wang and Ömer Erdinç Yağmurlu and Nils Blank and Moritz Reuss and Rudolf Lioutikov},
  year = {2025},
  eprint = {2506.06072},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2506.06072v2},
}