# Draft-and-Target Sampling for Video Generation Policy

arXiv: https://arxiv.org/abs/2603.13438 · HTML: https://mlsanity.com/paper/2603.13438/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 35 of its 36 references that are in the map.
- First posted on arXiv 13 Mar 2026.

## Builds on (most cited first, 30 of 35)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Fast Inference from Transformers via Speculative Decoding](https://mlsanity.com/paper/2211.17192/) (2022)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [Accelerating Large Language Model Decoding with Speculative Sampling](https://mlsanity.com/paper/2302.01318/) (2023)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Medusa: Simple LLM Inference Acceleration Framework with Multiple Decoding Heads](https://mlsanity.com/paper/2401.10774/) (2024)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Learning Universal Policies via Text-Guided Video Generation](https://mlsanity.com/paper/2302.00111/) (2023)
- [EAGLE-2: Faster Inference of Language Models with Dynamic Draft Trees](https://mlsanity.com/paper/2406.16858/) (2024)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [Latent Action Pretraining from Videos](https://mlsanity.com/paper/2410.11758/) (2024)
- [GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation](https://mlsanity.com/paper/2410.06158/) (2024)
- [Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations](https://mlsanity.com/paper/2412.14803/) (2024)
- [Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models](https://mlsanity.com/paper/2310.10639/) (2023)
- [Unlocking Efficiency in Large Language Model Inference: A Comprehensive Survey of Speculative Decoding](https://mlsanity.com/paper/2401.07851/) (2024)
- [RoboDreamer: Learning Compositional World Models for Robot Imagination](https://mlsanity.com/paper/2404.12377/) (2024)
- [Speculative Decoding: Exploiting Speculative Execution for Accelerating Seq2seq Generation](https://mlsanity.com/paper/2203.16487/) (2022)
- [Learning to Act from Actionless Videos through Dense Correspondences](https://mlsanity.com/paper/2310.08576/) (2023)
- [Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation](https://mlsanity.com/paper/2409.16283/) (2024)
- [Accelerating LLM Inference with Staged Speculative Decoding](https://mlsanity.com/paper/2308.04623/) (2023)
- [IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI](https://mlsanity.com/paper/2411.00785/) (2024)
- [Prediction with Action: Visual Policy Learning via Joint Denoising Process](https://mlsanity.com/paper/2411.18179/) (2024)
- [Speculative Diffusion Decoding: Accelerating Language Generation through Diffusion](https://mlsanity.com/paper/2408.05636/) (2024)
- [LANTERN: Accelerating Visual Autoregressive Models with Relaxed Speculative Decoding](https://mlsanity.com/paper/2410.03355/) (2024)
- [VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation](https://mlsanity.com/paper/2411.09153/) (2024)
- [Spec-VLA: Speculative Decoding for Vision-Language-Action Models with Relaxed Acceptance](https://mlsanity.com/paper/2507.22424/) (2025)
- [Accelerated Diffusion Models via Speculative Sampling](https://mlsanity.com/paper/2501.05370/) (2025)
- [Grounding Video Models to Actions through Goal Conditioned Exploration](https://mlsanity.com/paper/2411.07223/) (2024)

## Abstract (arXiv)

Video generation models have been used as a robot policy to predict the future states of executing a task conditioned on task description and observation. Previous works ignore their high computational cost and long inference time. To address this challenge, we propose Draft-and-Target Sampling, a novel diffusion inference paradigm for video generation policy that is training-free and can improve inference efficiency. We introduce a self-play denoising approach by utilizing two complementary denoising trajectories in a single model, draft sampling takes large steps to generate a global trajectory in a fast manner and target sampling takes small steps to verify it. To further speedup generation, we introduce token chunking and progressive acceptance strategy to reduce redundant computation. Experiments on three benchmarks show that our method can achieve up to 2.1x speedup and improve the efficiency of current state-of-the-art methods with minimal compromise to the success rate. Our code is available.