Related papers: TS-DP: Reinforcement Speculative Decoding For Temp…

Diffusion planning is a promising method for learning high-performance policies from offline data. To avoid the impact of discrepancies between planning and reality on performance, previous works generate new plans at each time step.…

Speculative decoding has emerged as a widely adopted method to accelerate large language model inference without sacrificing the quality of the model outputs. While this technique has facilitated notable speed improvements by enabling…

Speculative decoding has emerged as an effective approach for accelerating autoregressive inference by parallelizing token generation through a draft-then-verify paradigm. However, existing methods rely on static drafting lengths and rigid…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Speculative decoding accelerates LLM inference by having a lightweight draft model propose speculative windows of candidate tokens for parallel verification by a larger target model. In practice, speculative efficiency is often bottlenecked…

Speculative decoding accelerates large language model (LLM) inference by using a lightweight draft model to propose tokens that are later verified by a stronger target model. While effective in centralized systems, its behavior in…

We propose TPP-SD, a novel approach that accelerates Transformer temporal point process (TPP) sampling by adapting speculative decoding (SD) techniques from language models. By identifying the structural similarities between thinning…

Diffusion- and flow-based policies deliver state-of-the-art performance on long-horizon robotic manipulation and imitation learning tasks. However, these controllers employ a fixed inference budget at every control step, regardless of task…

Group relative policy optimization (GRPO) has demonstrated significant potential in improving the reasoning capabilities of large language models (LLMs) via reinforcement learning. However, its practical deployment is impeded by an…

Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vision and tactile feedback. While…

Speculative decoding accelerates large language model (LLM) inference by using a small draft model to generate candidate tokens for a larger target model to verify. The efficacy of this technique hinges on the trade-off between the time…

Speculative decoding has become the standard approach for accelerating Large Language Model (LLM) inference. It exploits a lossless draft-then-verify procedure to circumvent the latency of autoregressive decoding, achieving impressive…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…

Speculative decoding accelerates large language model inference by pairing a target model with a lightweight draft model whose proposed tokens are verified in parallel. A common way to build draft models, like EAGLE3 or DFlash is supervised…

Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing acceleration methods apply a fixed number of…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

Speculative Decoding has emerged as a popular technique for accelerating inference in Large Language Models. However, most existing approaches yield only modest improvements in production serving systems. Methods that achieve substantial…

Speculative Decoding (SD) accelerates inference in large language models by using a smaller draft model to propose tokens, which are then verified by a larger target model. However, the throughput gains of SD are fundamentally limited by a…

This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…