I just realized that in my last post I sort of neglected to address the main question. So what is an einbein? Turns out the answer is on the next page of the Green, Schwartz, and Witten textbook: the einbein is the induced metric, normally written
, where
and
range over the coordinates in the parametrization of the worldline/worldsheet/whatever. A one-dimensional worldline is parametrized by only one coordinate,
, so the induced metric has only one component,
.
Naturally, all this emerges from the general string/brane action,

The set of brane coordinates
is just
, the induced metric determinant is
, and the inverse induced metric has only the one component,
. Also,
is equal to
$dot{x}^2 = g_{munu}partial_tau X^mu partial_tau X^nu
Substituting all this in,

Now I just have to arbitrarily decide to set
, and presto, it's a particle action!