A gas tungsten arc welding (GTAW) training system, comprising: a GTAW torch comprising a first set of visual markers; and being characterised by: an attachment configured to be attached to a filler rod, the attachment comprising a second set of visual markers; one or more sensors configured to detect the first set of visual markers and second set of visual markers; and control circuitry in communication with the one or more sensors, the control circuitry configured to: determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch, wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod, the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod. an attachment configured to be attached to a filler rod, the attachment comprising a second set of visual markers; one or more sensors configured to detect the first set of visual markers and second set of visual markers; and control circuitry in communication with the one or more sensors, the control circuitry configured to: determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch, wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod, the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod. determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch, wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod, the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod.