Robotics paper index

BeNice! Closing Looping's Inference-Memory Gap via KV-Sharing

2026-10-22 · arXiv: 2610.31633

One-line summary

A robotics research paper on BeNice! Closing Looping's Inference-Memory Gap via KV-Sharing.

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Looped architectures scale quality while keeping parameter count fixed by repeatedly passing activations through the same block of layers. During inference, each recurrence generates independent KV-caches, causing memory to grow linearly. To address this challenge, prior work has proposed KV-sharing (i.e., sharing KV-caches across depth), finding that, in some cases, the KV-cache of the final recurrence can be shared with the earlier recurrences without quality loss, a property we denote as KV-shareability. However, the mechanisms underlying KV-shareability remain poorly understood, with even identically trained looped architectures not consistently exhibiting it. In this paper, we study how KV-shareability can be enabled in looped models. We propose a two-stage method: in the first stage, we use stochastic depth during pretraining, which induces contractive residual dynamics that drive representations toward a common limit across recurrences. In the second stage, we propose BeNice!, a post-training method that broadcasts the final recurrence's KV-cache into the first recurrence, training it to produce compatible residuals while preserving the original model's quality. As a result, BeNice! enables KV-shareability while matching standard finetuning's unshared validation perplexity. Using BeNice!, we show that KV-sharing is complementary to alternative KV-compression methods, composing with memory-efficient sequence mixers (e.g., multi-latent attention, Kimi delta attention) and low-precision KV-cache quantization (e.g., fp8, mxfp8, nvfp4). Finally, in simulated low-memory, long-context inference, KV-sharing improves cache hit rates by up to 31.4%, increases throughput by up to 23.6%, and reduces p90 time-to-first-token by up to 83.6%.

5.0Engineering value
7.0Research novelty
4.0Business relevance

Links and sources

Need this topic turned into a technical roadmap?

Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.

Request B2B research

Comments

No comments yet. Be the first to share your thoughts on this paper.
Login or register to leave a comment