BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning. - Hongyi Zhou; Weiran Liao; Xi Huang; Yucheng Tang; Fabian Otto; Xiaogang Jia; Xinkai Jiang; Simon Hilber; Ge Li; Qian Wang; Ömer Erdinç Yagmurlu; Nils Blank; et al. (CoRR, 2025)