HeiSD: Hybrid Speculative Decoding for Embodied Vision-Language-Action Models with Kinematic Awareness

Description

Vision-Language-Action (VLA) Models have become the mainstream solution for robot control, but suffer from slow inference speeds. Speculative Decoding (SD) is a promising acceleration method which can be divided into two categories: drafter-based SD and retrieval-based SD. Existing methods fail to analyze the advantages and disadvantages of these two types of SD in VLA models, leading to their sole application or optimization. In this paper, we analyze the trajectory patterns of robots controlle

Source