LoopVLA: CROSS-SUBTASK EVENT MEMORY FOR LOOPED TASK EXECUTION

Repetitive tasks are common in real-world manipulation, yet current vision-language-action (VLA) policies remain unreliable for repeated actions. We present LoopVLA, a cross-subtask event-memory interface for looped task execution. Its central idea is to compress a just-completed subtask into memory for the next subtask's action expert, making completed execution available for subsequent repetition and stopping decisions. Learnable event latents query the closed segment's tokens, while action features query history and joint history–event context; the two action-side readouts are residually fused and injected directly into the action head. On a memory benchmark, LoopVLA achieves 80.22% success on the repetition task group with online subgoal prediction, bringing evaluation closer to realistic deployment while improving overall success over strong memory baselines.