Well, I guess you start getting quicker after doing it a few times without thinking in beating the world records. As I said in other posts, I keep walking while releasing the fast release clips and unfold the pedals, the wheels only hit the floor for the last "spreading the legs(wheels)" part.
I actually re-lock the clips after I am rolling already, but I guess I should stop doing that maybe. Even in my first fold/unfold video (link below on signature), on the very first day the bike arrived, I didn't took that long to do it, even if i look a little bit unsecure about where to grab next
By the way I just dedicated an A-Bike category on my blog and I am going to have more videos/photos/comments there soon. Check the link on my signature.