LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models

Current Vision-Language-Action (VLA) models typically treat the deepest representation of a vision-language backbone as universally optimal for action prediction. However, robotic manipulation is composed of many frequent closed-loop spatial adjustments, for which excessive abstraction may waste computation and weaken low-level geometric cues essential for precise control. Existing early-exit strategies attempt to reduce computation by stopping at predefined layers or applying heuristic rules such as action consistency, but they do not directly answer when a representation is actually sufficient for action. In this paper, we present LoopVLA, a recurrent VLA architecture that jointly learns representation refinement, action prediction, and sufficiency estimation. LoopVLA iteratively applies a shared Transformer block to refine multimodal tokens, and at each iteration produces both a candidate action and a sufficiency score that estimates whether further refinement is necessary. By sharing parameters across iterations, LoopVLA decouples refinement from absolute layer indices and grounds sufficiency estimation in the evolving representation itself. Since sufficiency has no direct supervision, we introduce a self-supervised distribution alignment objective, where intermediate confidence scores are trained to match the relative action quality across refinement steps, thereby linking sufficiency learning to policy optimization signals. Experiments on LIBERO, LIBERO-Plus, and VLA-Arena show that LoopVLA pushes the efficiency-performance frontier of VLA policies, reducing parameters by 45% and improving inference throughput by up to 1.7 times while matching or outperforming strong baselines in task success.

Research on short-term load forecasting model based on VMD and IPSO-ELM

To enhance the accuracy of power load forecasting in wind farms, this study introduces an advanced combined forecasting method that integrates Variational Mode Decomposition (VMD) with an Improved Particle Swarm Optimization (IPSO) algorithm to optimize the Extreme Learning Machine (ELM). Initially, the VMD algorithm is employed to perform high-precision modal decomposition of the original power load data, which is then categorized into high-frequency and low-frequency sequences based on mutual information entropy theory. Subsequently, this research profoundly modifies the traditional multiverse optimizer by incorporating Tent chaos mapping, exponential travel distance rate, and an elite reverse learning mechanism, developing the IPSO-ELM prediction model. This model independently predicts the high and low-frequency sequences and reconstructs the data to achieve the final forecasting results. Simulation results indicate that the proposed method significantly improves prediction accuracy and convergence speed compared to traditional ELM, PSO-ELM, and PSO-ELM methods.