@article{enhancingvisualplanningwithauxiliarytask,
  title = {Enhancing Visual Planning with Auxiliary Tasks and Multi-token Prediction},
  author = {Ce Zhang and Yale Song and Ruta Desai and Michael Louis Iuzzolino and Joseph Tighe and Gedas Bertasius and Satwik Kottur},
  year = {2025},
  eprint = {2507.15130},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.15130},
}