Determine whether stochastic-tokenization benefits are specific to unigram modeling

Determine whether the policy-learning benefit of stochastic segmentation arises specifically from the unigram language model used by TOAST or instead from stochastic segmentation more generally, including alternative schemes such as BPE-dropout.

Background

The experiments instantiate stochastic action tokenization with a unigram model and subword regularization. Although TOAST improves over deterministic tokenization, the study does not compare alternative stochastic tokenization mechanisms such as BPE-dropout. Consequently, it remains unresolved whether the observed improvement is attributable to the unigram model itself or to the broader principle of sampling among equivalent segmentations.

References

Other stochastic tokenization schemes such as BPE-dropout were not compared, and whether the benefit stems from the unigram model specifically or from stochastic segmentation in general remains open.

— TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models  (2610.00899 - Shirai et al., 1 Oct 2026) in Section 6, Limitations