y 2-4x across a range of robotics and image generation models, giving state-of-the-art sampling speeds of 0.2s on 100-step DiffusionPolicy and 14.6s on 1000-step StableDiffusion-v2 with no measurable degradation of task reward, FID score, or CLIP score. The original codebase can be found at AndyShih12/paradigms, and the pipeline was contributed by AndyShih12. ❤️  Tips This pipeline improves sampling speed by running denoising steps in parallel,