Author

Zi-Yu Liu

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Preprint Sep 2026

ICI-VLA: In-Context Imitation with Spatiotemporally Aligned Demonstrations for Vision-Language-Action Models

Results indicate that a fixed VLA policy can benefit from conditioning on spatiotemporally aligned demonstrations at test time, and present ICI-VLA, a training and retrieval framework that equips a text-action VLM with few-shot test-time adaptation through in-context demonstrations.

Song-Hua Yang, Zi-Yu Liu, Xue-Tao Li et al. · 0 citations