TTT in VLA Models: Exploring Training with Human Demonstrations

The paper investigates integrating Test‑Time Training (TTT) into InternVLA‑A1 and Pi0.5 to enable robots to generate actions conditioned on human demonstrations. By training on paired demonstration and robot trajectory data, the authors explore memory transfer, truncated backpropagation, and contrastive regularization across video, short‑video, and single‑frame cue tasks. Experiments show that, at the current scale, adding TTT and paired training does not consistently improve target selection from demonstrations, and even single‑frame cues still lead robots to prefer cups at fixed positions.

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• robotics