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原文摘要

Vision-language-action (VLA) models enable robots to understand and execute complex instructions, but their autoregressive (AR) action generation introduces significant latency on resource-constrained robotic platforms. Speculative decoding can accelerate AR-based inference by parallelizing action generation and verification; however, existing approaches rely on costly draft models, which are inefficient on edge platforms. In this paper, we propose Zora, a hardware-software co-design framework for accelerating AR-based VLA inference. Specifically, Zora introduces a lightweight retrieval-augmented generation (RAG)-based draft model that exploits robotic dynamics without additional neural draft models. We further reduce batch verification overhead through a kinematics-guided action-acceptance strategy and a KV-cache-sharing attention mechanism. To address the retrieval overhead introduced by RAG-based drafting, we co-design dedicated hardware support, Zora core, to address the memory irregularity in RAG-based drafting. We evaluate Zora on four VLA models with the LIBERO benchmark. Zora retains comparable accuracy while achieving up to 3.4$\times$ speedup with software-only optimization and up to 7.6$\times$ speedup with hardware support over GPUs.