VFlash: Fast, Accurate Visual Planning via Flash Primitive Decoding

VFlash is a method for fast, accurate visual planning through Flash Primitive Decoding that exploits the known structure of visual primitives to predict their coordinates jointly. It uses a lightweight drafter that generates an entire primitive in one forward pass, with the layout adapting to the primitive's type, dimensionality, and length. VFlash trains on annotated primitives and directly accepts structurally valid predictions without target-token agreement. Across evaluated 2D and 3D robot trajectory tasks, VFlash consistently reduces prediction errors relative to autoregressive decoding.