CATok: Rethinking Causal Action Tokenization with Condition Annealing in Flow Matching

Chenyu Zhang^*, Yuhang Cao^*, Daru Du, Yingxi Lu, Jing Shao, Ruoqu Chen, Jiajun Liu, Liu Cao, Yicheng Liu, Hang Zhao, Mengdi Xu^†

^*Equal Contribution ^†Corresponding Author

Accepted to Conference on Neural Information Processing Systems (NeurIPS), 2026