Author

Zikang Wen

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Preprint Aug 2026

WA-SpecDec: World-Aware Speculative Decoding for Vision-Language-Action Models

WA-SpecDec is proposed, a world-aware speculative decoding framework that injects world-model-derived physical scene awareness during the VLA prefill stage, producing shared world-aware prefill states for draft proposal and target verification without changing the relaxed acceptance rule.

Zikang Wen, Yuning Zhang, Dong Yuan · 0 citations