Reasoning-aware Speculative Decoding for Efficient Vision-Language-Action Models in Autonomous Driving

Modern Vision-Language-Action (VLA) planners for autonomous driving emit a chain-of-causation (CoC) reasoning step before producing a trajectory. The reasoning is autoregressive and dominates inference latency, while the trajectory head is parallel and cheap. Latency is an operational constraint in autonomous driving, so accelerating the reasoning step is the central problem we address. We observe that CoC reasoning has two qualitatively different needs: most tokens continue routine setup that follows naturally from the ego-trajectory history, and a small fraction encode commitments that require fresh visual evidence about an unexpected situation. We split this reasoning into two specialized paths: a routine reasoner that handles the predictable continuation by attending to trajectory history, and a deliberative reasoner (the unmodified VLA target) that handles novel cases by attending to current visual evidence, using the speculative decoding framework as the architectural template for how the two paths cooperate. Unlike standard speculative decoding, our routine reasoner is not a smaller replica of the target; the two reasoners are deliberately specialized to read different parts of the prompt. We propose two techniques to realize this. First, we introduce FlatRoPE, a 1D rotary positional embedding in the draft that breaks the rotational symmetry of the target's 3D M-RoPE, redirecting attention away from visual tokens and onto trajectory-history tokens. Second, we introduce Action-aware RL (AARL), a post-training stage that uses an action-quality reward together with a static-reference KL anchor. Together, our two-reasoner system reduces the reasoning-step running time by approximately 4× relative to the original Alpamayo planner.