Related papers: Spec-VLA: Speculative Decoding for Vision-Language…

Large language models~(LLMs) exhibit exceptional performance in language tasks, yet their auto-regressive inference is limited due to high computational requirements and is sub-optimal due to the exposure bias. Inspired by speculative…

Existing Visual Speech Recognition (VSR) systems commonly rely on left-to-right autoregressive decoding, which can force premature decisions on visually ambiguous tokens before sufficient context is available. We propose DLLM-VSR, to the…

Speculative decoding has emerged as a widely adopted paradigm for accelerating large language model inference, where a lightweight draft model rapidly generates candidate tokens that are then verified in parallel by a larger target model.…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Vision-Language-Action (VLA) models, which integrate pretrained large Vision-Language Models (VLM) into their policy backbone, are gaining significant attention for their promising generalization capabilities. This paper revisits a…

Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is…

Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face challenges in learning related and reusable…

While vision-language-action (VLA) models for embodied agents integrate perception, reasoning, and control, they remain constrained by two critical weaknesses: first, during grasping tasks, the action tokens generated by the language model…

Speculative decoding is commonly used for reducing the inference latency of large language models. Its effectiveness depends highly on the speculation lookahead (SL)-the number of tokens generated by the draft model at each iteration. In…

Text generation with Large Language Models (LLMs) is known to be memory bound due to the combination of their auto-regressive nature, huge parameter counts, and limited memory bandwidths, often resulting in low token rates. Speculative…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

The rapid evolution of Embodied AI has enabled Vision-Language-Action (VLA) models to excel in multimodal perception and task execution. However, applying Reinforcement Learning (RL) to these massive models in large-scale distributed…

Large Language Models (LLMs) face significant computational bottlenecks during inference due to the quadratic complexity of self-attention mechanisms, particularly as context lengths increase. We introduce SpecAttn, a novel training-free…

Speculative decoding reduces the inference latency of a target large language model via utilizing a smaller and faster draft model. Its performance depends on a hyperparameter K -- the candidate length, i.e., the number of candidate tokens…

Speculative decoding has emerged as a promising technique to accelerate the inference of Large Language Models (LLMs) by employing a small language model to draft a hypothesis sequence, which is then validated by the LLM. The effectiveness…

Vision-Language-Action models (VLAs) achieve strong performance in general robotic manipulation tasks by scaling imitation learning. However, existing VLAs are limited to predicting short-sighted next-action, which struggle with…

Speculative decoding accelerates autoregressive large language model (LLM) inference by using a lightweight draft model to propose candidate tokens that are then verified in parallel by the target model. The speedup is significantly…

The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress toward this goal, yet their generated…

Vision-Language-Action (VLA) models have emerged as a promising approach for general-purpose robot manipulation. However, their generalization is inconsistent: while these models can perform impressively in some settings, fine-tuned…

Large Language Models (LLMs) exhibit high inference latency due to their autoregressive decoding nature. While the draft head in speculative decoding mitigates this issue, its full potential remains unexplored. In this paper, we introduce…