LoopVLA adds recurrent refinement and learned sufficiency estimation to VLA models, cutting parameters 45% and raising throughput 1.7x while matching baseline task success on LIBERO and VLA-Arena.
Uni- versal transformers
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A shared global expert pool in MoE improves validation loss over per-layer experts and allows sublinear expert-parameter growth with depth.
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LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models
LoopVLA adds recurrent refinement and learned sufficiency estimation to VLA models, cutting parameters 45% and raising throughput 1.7x while matching baseline task success on LIBERO and VLA-Arena.
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UniPool: A Globally Shared Expert Pool for Mixture-of-Experts
A shared global expert pool in MoE improves validation loss over per-layer experts and allows sublinear expert-parameter growth with depth.