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

arXiv · 2026-03-18 · Low-Level Learning-Based Action Modelling / Input Modelling / 2D Vision Language Action Models with Efficiency / Action Decoding

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