E-TTS

E-TTS: Embodied test-time scaling framework for robotic manipulation with history-aware iterative refinement

Researchers introduce E-TTS, a modular test-time scaling framework for robotic manipulation that unifies reasoning and action scaling via history-aware iterative refinement and vision-language verifiers. The framework addresses two gaps in prior work: underexplored reasoning scaling mechanisms and inadequate use of historical context in long-horizon sequential tasks. Evaluated across 4 benchmarks, 6 environments, 3 embodiments, and 4 base vision-language-action models, E-TTS achieves up to 33.14% improvement in simulation and 26.62% in real-world scenarios without additional expert data or retraining.