OmniJARVIS: Unified Vision-Language-Action Tokenization Enables Open-World Instruction Following Agents

This paper presents OmniJARVIS, a novel Vision-Language-Action (VLA) model for open-world instruction-following agents in Minecraft. Compared to prior works that either emit textual goals to separate controllers or produce the control command directly, OmniJARVIS seeks a different path to ensure both strong reasoning and efficient decision-making capabilities via unified tokenization of multimodal interaction data. First, we introduce a self-supervised approach to learn a behavior encoder that produces discretized tokens for behavior trajectories \tau \{o_0, a_0, \dots\} and an imitation learning policy decoder conditioned on these tokens. These additional behavior tokens will be augmented to the vocabulary of pretrained Multimodal Language Models. With this encoder, we then pack long-term multimodal interactions involving task instructions, memories, thoughts, observations, textual responses, behavior trajectories, etc into unified token sequences and model them with autoregressive transformers.