FlowEval: How Much Adaptation Does an Embodied Foundation Model Need at Deployment?
Overview
This paper introduces FlowEval, a training-free diagnostic tool that uses flow-matching objectives to assess how well pretrained embodied foundation models fit target deployments. Evaluated across four model families (Pi-0.5, MolmoAct2, GR00T, DreamZero) on real-world and simulated manipulation tasks, FlowEval quantifies predictive disagreement on successful demonstrations to estimate required adaptation data. Finetuning Pi-0.5 and GR00T on 17 RoboCasa365 tasks further demonstrates that FlowEval correlates with success rate improvements as additional adaptation data is provided.
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- arXiv Robotics — research abstractsSignalFlowEval: How Much Adaptation Does an Embodied Foundation Model Need at Deployment?
This paper introduces FlowEval, a training-free diagnostic tool that uses flow-matching objectives to assess how well pretrained embodied foundation models fit target deployments. Evaluated across four model families (Pi-0.5, MolmoAct2, GR00T, DreamZero) on real-world and simulated manipulation tasks, FlowEval quantifies predictive disagreement on successful demonstrations to estimate required adaptation data. Finetuning Pi-0.5 and GR00T on 17 RoboCasa365 tasks further demonstrates that FlowEval correlates with success rate improvements as additional adaptation data is provided.
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