You can't do this directly, but you can if you are willing to compromise slightly.
Rather than the publisher action directly opening the target Visualforce page, you can make it open an interim page which then redirects to the standard page using the sforce.one.navigateToSObject method. This exits the publisher 'popup' and displays the target Visualforce page full screen.
The downside is that you have to make two round trips to the server and the user has to wait a little longer.
An example interim page where my target page is 'AccountAndContactsEditV1' is:
<apex:page standardController="Account">
<h1>Please Wait</h1>
Redirecting ....
<script>
if ( (typeof window.sforce != 'undefined') && (window.sforce!=null) ) {
sforce.one.navigateToURL('/apex/AccountAndContactsEditV1?id={!Account.id}');
}
else {
alert('Not in SF1 :(');
}
</script>
</apex:page>
I've gone into this in more detail with screenshots a blog post at:
http://bobbuzzard.blogspot.co.uk/2014/08/replace-visualforce-buttons-in.html