Vision-Language-Action (VLA) models promise to bring end-to-end reasoning to autonomous driving, but their computational cost remains far too high for real-time control. The core challenge is structural: VLA inference is not a single bottleneck but a cascade of four. Visual encoding wastes compute on overlapping video frames; language-model prefill recomputes context that could be carried over from the previous timestep; reasoning tokens are generated serially despite low entropy; and flow-matching denoising applies uniform compute to a non-uniform velocity field. Addressing any one stage in isolation leaves the others untouched. We propose FlashDrive, an algorithm-system co-design framework that targets all four stages simultaneously. Our key insight is that each bottleneck admits a distinct, lightweight algorithmic shortcut: temporal overlap enables streaming KV-cache reuse across frames; the low per-token entropy and strong intra-block correlations of driving-domain reasoning make a non-autoregressive diffusion drafter highly effective for speculative decoding; and the velocity field's structure---sharp at the endpoints, flat in the middle---permits adaptive step caching that concentrates compute where it matters. Layered on system-level CUDA Graph compilation and kernel fusion, these techniques compound. Applied to Alpamayo 1.5-10B with W4A8 quantization, FlashDrive reduces end-to-end latency from 717ms to 151ms (4.7x) while leaving accuracy essentially unchanged: minADE6@6.4s shifts by only 0.08m, minADE1 improves, and closed-loop collision and off-road rates improve in simulation. By raising a 10B-parameter reasoning VLA from 1.4~Hz to 6.6~Hz on a single GPU, FlashDrive moves end-to-end autonomous driving substantially closer to real-time deployment.
Zekai Li, Yihao Liang, Hongfei Zhang et al.· 2 citations
Tail-Replay is presented, a prefix caching mechanism that enables unconstrained token-level prefix reuse in hybrid large language models and is evaluated on three Gated DeltaNet-based hybrid models using the LongBench and RULER benchmarks.
Yi-Rui Liu, Ruoling Qi, Xuan'er Wu et al.· 0 citations
LLM serving is increasingly accelerated by position-independent caching (PIC). Existing PIC methods, however, are built for full-attention models, where a token-indexed KV cache underlies its core operations: matching reusable token chunks, concatenating their KV entries, and selectively recomputing a few tokens to restore cross-chunk context. Hybrid LLMs break these primitives---they replace most attention layers with linear recurrences that expose only a fixed-size state, leaving no token-indexed KV to concatenate or to locally repair. This raises a natural question: can PIC benefit hybrid models, and what would it take? We present LinearKV, a training-free hybrid-PIC framework. Its key insight is a \emph{decoupled initialization}: each linear layer maps its $K$ matched local states to a single initial state, while full-attention layers concatenate their KV as before. LinearKV is therefore compatible with existing PIC methods, reusing their token selection and recomputation as-is. Under this framework, we find that a \emph{single cached state} suffices as the linear layer's initializer. The algebraically principled alternative---composing all $K$ cached states into the exact full-prefix state, as concurrent work HYPIC does---is unnecessary and, on some architectures, even harmful. We compare the two across three hybrid models and three PIC selectors. On the two GDN models the two tie, both recovering most of full quality (up to $92\%$); on the Mamba-2 model, exact composition instead collapses under every selector---under EPIC, for instance, it recovers only $46.6\%$ of full quality, versus $86.8\%$ for a single cached block initializer. A single state initializer is also cheaper, cutting time-to-first-token to $0.46\times$ full prefill versus a further $5$--$17\%$ overhead for exact composition; results hold across LongBench QA and RULER at 8K--32K.
Yi-Rui Liu, Ruoling Qi, Long-Wen Wang et al.· 1 citation
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