HeiSD delivers up to 2.45x faster inference for embodied VLA models by hybridizing speculative decoding with kinematic boundary detection and error-mitigation tricks while preserving task success rates.
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HeiSD: Hybrid Speculative Decoding for Embodied Vision-Language-Action Models with Kinematic Awareness
HeiSD delivers up to 2.45x faster inference for embodied VLA models by hybridizing speculative decoding with kinematic boundary detection and error-mitigation tricks while preserving task success rates.