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TS-DP: Reinforcement Speculative Decoding For Temporal Adaptive Diffusion Policy Acceleration
Ye Li, Jiahe Feng, Yuan Meng +6
Diffusion Policy (DP) excels in embodied control but suffers from high inference latency and computational cost due to multiple iterative denoising steps. The temporal complexity o…
FREE: Uncertainty-Aware Autoregression for Parallel Diffusion Transformers
Xinwan Wen, Bowen Li, Jiajun Luo +2
Diffusion Transformers (DiTs) achieve state-of-the-art generation quality but require long sequential denoising trajectories, leading to high inference latency. Recent speculative…
VVS: Accelerating Speculative Decoding for Visual Autoregressive Generation via Partial Verification Skipping
Haotian Dong, Ye Li, Rongwei Lu +3
Visual autoregressive (AR) generation models have demonstrated strong potential for image generation, yet their next-token-prediction paradigm introduces considerable inference lat…
Spatial Policy: Guiding Visuomotor Robotic Manipulation with Spatial-Aware Modeling and Reasoning
Yijun Liu, Yuwei Liu, Yuan Meng +8
Vision-centric hierarchical embodied models have demonstrated strong potential. However, existing methods lack spatial awareness capabilities, limiting their effectiveness in bridg…
Block-wise Adaptive Caching for Accelerating Diffusion Policy
Kangye Ji, Yuan Meng, Hanyun Cui +5
Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redund…
SP-VLA: A Joint Model Scheduling and Token Pruning Approach for VLA Model Acceleration
Ye Li, Yuan Meng, Zewen Sun +7
Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities. However, their high computational cost and low execution frequency hi…