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TTT in VLA Models: Exploring Training with Human Demonstrations in InternVLA-A1 and Pi0.5

The study integrates Test-Time Training (TTT) into InternVLA-A1 and Pi0.5, training on paired demonstrations and robot trajectories to explore action generation conditioned on human demonstrations. At the current scale, adding TTT and training on paired data did not produce consistent target selection based on demonstrations, and shorter sequences, full-trajectory gradient connectivity, and contrastive regularization also did not clearly improve responsiveness to demonstrations. When demonstrations were reduced to single-frame cues, real-robot execution still preferred cups at fixed positions.

Part of the event: TTT and Human Demonstration Training Did Not Meet Expectations for VLA Models

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