Z. Mao

Papers on Lattice

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Publication activitypapers/week, last 8 weeks

Research focus

Inference & Quantization (2)Multimodal Models (2)Robotics & Embodied AI (2)

Frequent co-authors

Zihao Zheng (2)Zhihao Mao (2)Maoliang Li (2)Jiayu Chen (2)

Papers (2)

Mar 18, 2026

Zihao Zheng +11Mar 18, 2026·also Corresponding Author

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

Robots can think (and act) twice as fast: HeiSD's hybrid speculative decoding turbocharges embodied agents by intelligently switching between draft and retrieval strategies.

Zihao Zheng, Z. Mao, Zhihao Mao +9

Inference & Quantization Multimodal Models Robotics & Embodied AI

Mar 2, 2026

KERV: Kinematic-Rectified Speculative Decoding for Embodied VLA Models

By integrating kinematic prediction with speculative decoding, KERV enables VLA models to achieve a 27-37% speedup in robot control tasks without sacrificing success rate.

Zihao Zheng, Zhihao Mao, Z. Mao +4