Related papers: HeiSD: Hybrid Speculative Decoding for Embodied Vi…

Large language models (LLMs) achieve strong performance across diverse tasks but suffer from high inference latency due to their autoregressive generation. Speculative Decoding (SPD) mitigates this issue by verifying candidate tokens in…

Accelerating inference in Large Language Models (LLMs) is critical for real-time interactions, as they have been widely incorporated into real-world services. Speculative decoding, a fully algorithmic solution, has gained attention for…

Pruning is a typical acceleration technique for compute-bound models by removing computation on unimportant values. Recently, it has been applied to accelerate Vision-Language-Action (VLA) model inference. However, existing acceleration…

Speculative decoding has proven effective for accelerating inference in Large Language Models (LLMs), yet its extension to Vision-Language Models (VLMs) remains limited by the computational burden and semantic inconsistency introduced by…

Modern autoregressive speech synthesis models leveraging language models have demonstrated remarkable performance. However, the sequential nature of next token prediction in these models leads to significant latency, hindering their…

Large Vision-Language Models (LVLMs) have shown remarkable performance on many visual-language tasks. However, these models still suffer from multimodal hallucination, which means the generation of objects or content that violates the…

Large Language Models (LLMs) have become an indispensable part of natural language processing tasks. However, autoregressive sampling has become an efficiency bottleneck. Multi-Draft Speculative Decoding (MDSD) is a recent approach where,…

Speculative decoding is a technique that uses multiple language models to accelerate infer- ence. Previous works have used an experi- mental approach to optimize the throughput of the inference pipeline, which involves LLM training and can…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Speculative decoding emerges as a pivotal technique for enhancing the inference speed of Large Language Models (LLMs). Despite recent research aiming to improve prediction efficiency, multi-sample speculative decoding has been overlooked…

Speculative Decoding (SD) is a popular lossless technique for accelerating the inference of Large Language Models (LLMs). We show that the decoding speed of SD frameworks with static draft structures can be significantly improved by…

Recent work has begun to equip vision-language-action (VLA) policies with explicit intermediate reasoning. In embodied control, however, textual chain-of-thought is a poor fit: irrelevant or weakly textual information can interfere with…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Vision-Language-Action (VLA) models have recently enabled robotic manipulation by grounding visual and linguistic cues into actions. However, most VLAs assume the Markov property, relying only on the current observation and thus suffering…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Vision-Language-Action (VLA) models have shown remarkable success in robotic tasks like manipulation by fusing a language model's reasoning with a vision model's 3D understanding. However, their high computational cost remains a major…

Leveraging diverse robotic data for pretraining remains a critical challenge. Existing methods typically model the dataset's action distribution using simple observations as inputs. However, these inputs are often incomplete, resulting in a…

Parallel Speculative Decoding (PSD) accelerates traditional Speculative Decoding (SD) by overlapping draft generation with verification. However, it remains hampered by two fundamental challenges: (1) a theoretical speedup ceiling dictated…