FAST: Efficient Robot Action Tokenization

Introduced the FAST (Efficient Robot Action Tokenization) method, which uses Discrete Cosine Transform (DCT) combined with Byte Pair Encoding (BPE) to compress robot action sequences into discrete tokens. This approach significantly improves training efficiency (5x faster) and enables autoregressive transformer models to handle highly dexterous tasks with precision, achieving performance comparable to diffusion models while allowing for faster training and better generalization.